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v0.9.5
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7db3123547 | ||
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6da7a20a7a | ||
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aa1c67de29 | ||
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3470a1cb69 |
3
.gitignore
vendored
3
.gitignore
vendored
@@ -232,4 +232,5 @@ CATKIN_IGNORE
|
||||
|
||||
/**/local_config.py
|
||||
|
||||
*.graphml
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*.graphml
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||||
unilabos/device_mesh/view_robot.rviz
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||||
|
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@@ -1,3 +1,5 @@
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||||
recursive-include unilabos/registry *.yaml
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recursive-include unilabos/app/web *.html
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recursive-include unilabos/app/web *.css
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recursive-include unilabos/device_mesh/devices *
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recursive-include unilabos/device_mesh/resources *
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|
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@@ -12,7 +12,11 @@
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||||
[](https://github.com/dptech-corp/Uni-Lab-OS/issues)
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||||
[](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
|
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Uni-Lab Operating System is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
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Uni-Lab-OS is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
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## 🏆 Competition
|
||||
|
||||
Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS!
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||||
|
||||
## Key Features
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||||
|
||||
@@ -45,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
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# Currently, you need to install the `unilabos_msgs` package
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||||
# You can download the system-specific package from the Release page
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conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
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conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2
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# Install PyLabRobot and other prerequisites
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git clone https://github.com/PyLabRobot/pylabrobot plr_repo
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||||
|
||||
@@ -12,7 +12,11 @@
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
|
||||
|
||||
Uni-Lab 操作系统是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
|
||||
Uni-Lab-OS是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
|
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|
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## 🏆 比赛
|
||||
|
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欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！
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|
||||
## 核心特点
|
||||
|
||||
@@ -45,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
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|
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# 现阶段，需要安装 `unilabos_msgs` 包
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# 可以前往 Release 页面下载系统对应的包进行安装
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conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
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conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2
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# 安装PyLabRobot等前置
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git clone https://github.com/PyLabRobot/pylabrobot plr_repo
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|
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7
recipes/macos_sdk_config.yaml
Normal file
7
recipes/macos_sdk_config.yaml
Normal file
@@ -0,0 +1,7 @@
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CONDA_BUILD_SYSROOT:
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- /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk
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MACOSX_DEPLOYMENT_TARGET:
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- "11.0"
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CONDA_SUBDIR:
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- osx-arm64
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# boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
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@@ -1,6 +1,6 @@
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package:
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name: ros-humble-unilabos-msgs
|
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version: 0.9.1
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version: 0.9.5
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||||
source:
|
||||
path: ../../unilabos_msgs
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folder: ros-humble-unilabos-msgs/src/work
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||||
|
||||
@@ -1,6 +1,6 @@
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package:
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name: unilabos
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version: "0.9.1"
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version: "0.9.5"
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||||
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source:
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||||
path: ../..
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||||
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||||
@@ -1,4 +1,2 @@
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||||
[develop]
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script_dir=$base/lib/unilabos
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[install]
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||||
install_scripts=$base/lib/unilabos
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2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
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setup(
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name=package_name,
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version='0.9.1',
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version='0.9.5',
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packages=find_packages(),
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include_package_data=True,
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install_requires=['setuptools'],
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22
test/experiments/biomek.json
Normal file
22
test/experiments/biomek.json
Normal file
@@ -0,0 +1,22 @@
|
||||
{
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||||
"nodes": [
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||||
{
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||||
"id": "BIOMEK",
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"name": "BIOMEK",
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||||
"parent": null,
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||||
"type": "device",
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"class": "liquid_handler.biomek",
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"position": {
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||||
"x": 620.6111111111111,
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"y": 171,
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"z": 0
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||||
},
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||||
"config": {
|
||||
},
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||||
"data": {},
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||||
"children": [
|
||||
]
|
||||
}
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||||
],
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||||
"links": []
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||||
}
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||||
File diff suppressed because it is too large
Load Diff
1710
test/experiments/plr_test_converted_slim.json
Normal file
1710
test/experiments/plr_test_converted_slim.json
Normal file
File diff suppressed because it is too large
Load Diff
35
test/experiments/test_moveit.json
Normal file
35
test/experiments/test_moveit.json
Normal file
@@ -0,0 +1,35 @@
|
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{
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||||
"nodes": [
|
||||
|
||||
{
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||||
"id": "benyao",
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||||
"name": "benyao",
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||||
"children": [
|
||||
],
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||||
"parent": null,
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||||
"type": "device",
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||||
"class": "moveit.arm_slider",
|
||||
"position": {
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"x": 0,
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||||
"y": 0,
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||||
"z": 0
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||||
},
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||||
"config": {
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||||
"moveit_type": "arm_slider",
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||||
"joint_poses": {
|
||||
"arm": {
|
||||
"home": [0.0, 0.2, 0.0, 0.0, 0.0],
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||||
"pick": [1.2, 0.0, 0.0, 0.0, 0.0]
|
||||
}
|
||||
},
|
||||
"device_config": {
|
||||
}
|
||||
},
|
||||
"data": {
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": [
|
||||
|
||||
]
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||||
}
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@@ -10,6 +10,8 @@ from copy import deepcopy
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||||
|
||||
import yaml
|
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|
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from unilabos.resources.graphio import tree_to_list
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|
||||
# 首先添加项目根目录到路径
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||||
current_dir = os.path.dirname(os.path.abspath(__file__))
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||||
unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
@@ -144,19 +146,19 @@ def main():
|
||||
else read_graphml(args_dict["graph"])
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||||
)
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devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
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args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
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# args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
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args_dict["resources_config"] = list(devices_and_resources.values())
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||||
args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
|
||||
# args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
|
||||
|
||||
args_dict["graph"] = graph_res.physical_setup_graph
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||||
else:
|
||||
if args_dict["devices"] is None or args_dict["resources"] is None:
|
||||
print_status("Either graph or devices and resources must be provided.", "error")
|
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sys.exit(1)
|
||||
args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
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||||
args_dict["resources_config"] = initialize_resources(
|
||||
list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
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||||
)
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||||
# args_dict["resources_config"] = initialize_resources(
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||||
# list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
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# )
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||||
args_dict["resources_config"] = list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
|
||||
|
||||
print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
|
||||
for i in args_dict["resources_config"]:
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
import json
|
||||
import time
|
||||
import traceback
|
||||
from typing import Optional
|
||||
import uuid
|
||||
|
||||
import paho.mqtt.client as mqtt
|
||||
@@ -161,12 +162,14 @@ class MQTTClient:
|
||||
status = {"data": device_status.get(device_id, {}), "device_id": device_id}
|
||||
address = f"labs/{MQConfig.lab_id}/devices/"
|
||||
self.client.publish(address, json.dumps(status), qos=2)
|
||||
logger.critical(f"Device status published: address: {address}, {status}")
|
||||
logger.debug(f"Device status published: address: {address}, {status}")
|
||||
|
||||
def publish_job_status(self, feedback_data: dict, job_id: str, status: str):
|
||||
def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
jobdata = {"job_id": job_id, "data": feedback_data, "status": status}
|
||||
if return_info is None:
|
||||
return_info = "{}"
|
||||
jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
|
||||
self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
|
||||
|
||||
def publish_registry(self, device_id: str, device_info: dict):
|
||||
|
||||
@@ -30,18 +30,18 @@ class HTTPClient:
|
||||
self.auth = MQConfig.lab_id
|
||||
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
|
||||
|
||||
def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
||||
def resource_add(self, resources: List[Dict[str, Any]], database_process_later:bool) -> requests.Response:
|
||||
"""
|
||||
添加资源
|
||||
|
||||
Args:
|
||||
resources: 要添加的资源列表
|
||||
|
||||
database_process_later: 后台处理资源
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource/",
|
||||
f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=5,
|
||||
@@ -60,7 +60,7 @@ class HTTPClient:
|
||||
Dict: 返回的资源数据
|
||||
"""
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/lab/resource/",
|
||||
f"{self.remote_addr}/lab/resource/?edge_format=1",
|
||||
params={"id": id, "with_children": with_children},
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=5,
|
||||
@@ -96,7 +96,7 @@ class HTTPClient:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.patch(
|
||||
f"{self.remote_addr}/lab/resource/batch_update/",
|
||||
f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=5,
|
||||
|
||||
@@ -2,17 +2,42 @@ import numpy as np
|
||||
import networkx as nx
|
||||
|
||||
|
||||
def is_integrated_pump(node_name):
|
||||
return "pump" in node_name and "valve" in node_name
|
||||
|
||||
|
||||
def find_connected_pump(G, valve_node):
|
||||
for neighbor in G.neighbors(valve_node):
|
||||
if "pump" in G.nodes[neighbor]["class"]:
|
||||
return neighbor
|
||||
raise ValueError(f"未找到与阀 {valve_node} 唯一相连的泵节点")
|
||||
|
||||
|
||||
def build_pump_valve_maps(G, pump_backbone):
|
||||
pumps_from_node = {}
|
||||
valve_from_node = {}
|
||||
for node in pump_backbone:
|
||||
if is_integrated_pump(node):
|
||||
pumps_from_node[node] = node
|
||||
valve_from_node[node] = node
|
||||
else:
|
||||
pump_node = find_connected_pump(G, node)
|
||||
pumps_from_node[node] = pump_node
|
||||
valve_from_node[node] = node
|
||||
return pumps_from_node, valve_from_node
|
||||
|
||||
|
||||
def generate_pump_protocol(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
flowrate: float = 0.5,
|
||||
transfer_flowrate: float = 0,
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
flowrate: float = 0.5,
|
||||
transfer_flowrate: float = 0,
|
||||
) -> list[dict]:
|
||||
"""
|
||||
生成泵操作的动作序列。
|
||||
|
||||
|
||||
:param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
|
||||
:param from_vessel: 容器A
|
||||
:param to_vessel: 容器B
|
||||
@@ -21,194 +46,137 @@ def generate_pump_protocol(
|
||||
:param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同）
|
||||
:return: 泵操作的动作序列
|
||||
"""
|
||||
|
||||
|
||||
# 生成泵操作的动作序列
|
||||
pump_action_sequence = []
|
||||
|
||||
# 检查节点是否存在
|
||||
if from_vessel not in G.nodes:
|
||||
print(f"Warning: Source vessel '{from_vessel}' not found in graph. Skipping.")
|
||||
return []
|
||||
|
||||
if to_vessel not in G.nodes:
|
||||
print(f"Warning: Target vessel '{to_vessel}' not found in graph. Skipping.")
|
||||
return []
|
||||
|
||||
# 检查是否存在路径
|
||||
try:
|
||||
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||
except nx.NetworkXNoPath:
|
||||
print(f"Warning: No path from '{from_vessel}' to '{to_vessel}'. Skipping.")
|
||||
return []
|
||||
except nx.NodeNotFound as e:
|
||||
print(f"Warning: Node not found: {e}. Skipping.")
|
||||
return []
|
||||
|
||||
print(f"Shortest path: {shortest_path}")
|
||||
nodes = G.nodes(data=True)
|
||||
# 从from_vessel到to_vessel的最短路径
|
||||
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||
print(shortest_path)
|
||||
|
||||
pump_backbone = shortest_path
|
||||
if not from_vessel.startswith("pump"):
|
||||
pump_backbone = pump_backbone[1:]
|
||||
if not to_vessel.startswith("pump"):
|
||||
pump_backbone = pump_backbone[:-1]
|
||||
|
||||
print(f"Pump backbone: {pump_backbone}")
|
||||
|
||||
# 修复：检查pump_backbone是否为空
|
||||
if not pump_backbone:
|
||||
print(f"Warning: No pumps found in path from '{from_vessel}' to '{to_vessel}'. Skipping.")
|
||||
return []
|
||||
|
||||
|
||||
if transfer_flowrate == 0:
|
||||
transfer_flowrate = flowrate
|
||||
|
||||
# 修复：正确访问节点数据
|
||||
pump_max_volumes = []
|
||||
for pump in pump_backbone:
|
||||
# 直接使用 G.nodes[pump] 来访问节点数据
|
||||
pump_data = G.nodes[pump] if pump in G.nodes else {}
|
||||
# 尝试多种可能的键名，并提供默认值
|
||||
max_vol = pump_data.get('max_volume') or pump_data.get('max_vol') or pump_data.get('volume')
|
||||
if max_vol is None:
|
||||
# 如果是设备节点，尝试从config中获取
|
||||
config = pump_data.get('config', {})
|
||||
max_vol = config.get('max_volume', 25.0)
|
||||
pump_max_volumes.append(float(max_vol))
|
||||
|
||||
if pump_max_volumes:
|
||||
min_transfer_volume = min(pump_max_volumes)
|
||||
else:
|
||||
min_transfer_volume = 25.0 # 默认值
|
||||
|
||||
|
||||
pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
|
||||
|
||||
min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone])
|
||||
repeats = int(np.ceil(volume / min_transfer_volume))
|
||||
if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")):
|
||||
raise ValueError("Cannot transfer volume larger than min_transfer_volume between two pumps.")
|
||||
|
||||
|
||||
volume_left = volume
|
||||
|
||||
|
||||
# 生成泵操作的动作序列
|
||||
for i in range(repeats):
|
||||
# 单泵依次执行阀指令、活塞指令，将液体吸入与之相连的第一台泵
|
||||
if not from_vessel.startswith("pump") and pump_backbone:
|
||||
# 修复：添加边缘数据检查
|
||||
edge_data = G.get_edge_data(pump_backbone[0], from_vessel)
|
||||
if edge_data and "port" in edge_data:
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": pump_backbone[0],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": edge_data["port"][pump_backbone[0]]
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pump_backbone[0],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(min(volume_left, min_transfer_volume)),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
if not from_vessel.startswith("pump"):
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": valve_from_node[pump_backbone[0]],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(pump_backbone[0], from_vessel)["port"][pump_backbone[0]]
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
else:
|
||||
print(f"Warning: No edge data found between {pump_backbone[0]} and {from_vessel}")
|
||||
|
||||
# 修复：检查pump_backbone长度，避免多泵操作时出错
|
||||
if len(pump_backbone) > 1:
|
||||
for pumpA, pumpB in zip(pump_backbone[:-1], pump_backbone[1:]):
|
||||
# 相邻两泵同时切换阀门至连通位置
|
||||
edge_AB = G.get_edge_data(pumpA, pumpB)
|
||||
edge_BA = G.get_edge_data(pumpB, pumpA)
|
||||
|
||||
if edge_AB and "port" in edge_AB and edge_BA and "port" in edge_BA:
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": pumpA,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": edge_AB["port"][pumpA]
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumpB,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": edge_BA["port"][pumpB],
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[pump_backbone[0]],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(min(volume_left, min_transfer_volume)),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
])
|
||||
# 相邻两泵液体转移：泵A排出液体，泵B吸入液体
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": pumpA,
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumpB,
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(min(volume_left, min_transfer_volume)),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
for nodeA, nodeB in zip(pump_backbone[:-1], pump_backbone[1:]):
|
||||
# 相邻两泵同时切换阀门至连通位置
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": valve_from_node[nodeA],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(nodeA, nodeB)["port"][nodeA]
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
else:
|
||||
print(f"Warning: No edge data found between {pumpA} and {pumpB}")
|
||||
|
||||
if not to_vessel.startswith("pump") and pump_backbone:
|
||||
},
|
||||
{
|
||||
"device_id": valve_from_node[nodeB],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(nodeB, nodeA)["port"][nodeB],
|
||||
}
|
||||
}
|
||||
])
|
||||
# 相邻两泵液体转移：泵A排出液体，泵B吸入液体
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": pumps_from_node[nodeA],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[nodeB],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(min(volume_left, min_transfer_volume)),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
|
||||
if not to_vessel.startswith("pump"):
|
||||
# 单泵依次执行阀指令、活塞指令，将最后一台泵液体缓慢加入容器B
|
||||
edge_data = G.get_edge_data(pump_backbone[-1], to_vessel)
|
||||
if edge_data and "port" in edge_data:
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": pump_backbone[-1],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": edge_data["port"][pump_backbone[-1]]
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pump_backbone[-1],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": flowrate
|
||||
}
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": valve_from_node[pump_backbone[-1]],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(pump_backbone[-1], to_vessel)["port"][pump_backbone[-1]]
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
else:
|
||||
print(f"Warning: No edge data found between {pump_backbone[-1]} and {to_vessel}")
|
||||
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[pump_backbone[-1]],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": flowrate
|
||||
}
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
|
||||
volume_left -= min_transfer_volume
|
||||
return pump_action_sequence
|
||||
|
||||
|
||||
# Pump protocol compilation
|
||||
def generate_pump_protocol_with_rinsing(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
amount: str = "",
|
||||
time: float = 0,
|
||||
viscous: bool = False,
|
||||
rinsing_solvent: str = "air",
|
||||
rinsing_volume: float = 5.0,
|
||||
rinsing_repeats: int = 2,
|
||||
solid: bool = False,
|
||||
flowrate: float = 2.5,
|
||||
transfer_flowrate: float = 0.5,
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
amount: str = "",
|
||||
time: float = 0,
|
||||
viscous: bool = False,
|
||||
rinsing_solvent: str = "air",
|
||||
rinsing_volume: float = 5.0,
|
||||
rinsing_repeats: int = 2,
|
||||
solid: bool = False,
|
||||
flowrate: float = 2.5,
|
||||
transfer_flowrate: float = 0.5,
|
||||
) -> list[dict]:
|
||||
"""
|
||||
Generates a pump protocol for transferring a specified volume between vessels, including rinsing steps with a chosen solvent. This function constructs a sequence of pump actions based on the provided parameters and the shortest path in a directed graph.
|
||||
|
||||
|
||||
Args:
|
||||
G (nx.DiGraph): The directed graph representing the vessels and connections. 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
|
||||
from_vessel (str): The name of the vessel to transfer from.
|
||||
@@ -223,96 +191,64 @@ def generate_pump_protocol_with_rinsing(
|
||||
solid (bool, optional): Indicates if the transfer involves a solid (default is False).
|
||||
flowrate (float, optional): The flow rate for the transfer (default is 2.5). 最终注入容器B时的流速
|
||||
transfer_flowrate (float, optional): The flow rate for the transfer action (default is 0.5). 泵骨架中转移流速（若不指定，默认与注入流速相同）
|
||||
|
||||
|
||||
Returns:
|
||||
list[dict]: A sequence of pump actions to be executed for the transfer and rinsing process. 泵操作的动作序列.
|
||||
|
||||
|
||||
Raises:
|
||||
AssertionError: If the number of rinsing solvents does not match the number of rinsing repeats.
|
||||
|
||||
|
||||
Examples:
|
||||
pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 0.1, rinsing_solvent="water")
|
||||
"""
|
||||
# 修复：使用实际存在的节点名称
|
||||
air_vessel = "flask_air" # 这个在你的配置中存在
|
||||
|
||||
# 寻找合适的废料容器，如果没有找到则使用空的容器作为替代
|
||||
waste_vessel = None
|
||||
available_vessels = [node for node in G.nodes if node.startswith("flask_") and node != air_vessel]
|
||||
if available_vessels:
|
||||
# 使用第一个可用的容器作为废料容器
|
||||
waste_vessel = available_vessels[0]
|
||||
print(f"Using {waste_vessel} as waste vessel")
|
||||
else:
|
||||
waste_vessel = "flask_1" # 备用选择
|
||||
|
||||
# 修复：添加路径检查
|
||||
try:
|
||||
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||
pump_backbone = shortest_path[1: -1]
|
||||
except (nx.NetworkXNoPath, nx.NodeNotFound) as e:
|
||||
print(f"Warning: Cannot find path from {from_vessel} to {to_vessel}: {e}")
|
||||
return []
|
||||
|
||||
# 修复：正确访问节点数据
|
||||
pump_max_volumes = []
|
||||
for pump in pump_backbone:
|
||||
# 直接使用 G.nodes[pump] 来访问节点数据
|
||||
pump_data = G.nodes[pump] if pump in G.nodes else {}
|
||||
# 尝试多种可能的键名，并提供默认值
|
||||
max_vol = pump_data.get('max_volume') or pump_data.get('max_vol') or pump_data.get('volume')
|
||||
if max_vol is None:
|
||||
# 如果是设备节点，尝试从config中获取
|
||||
config = pump_data.get('config', {})
|
||||
max_vol = config.get('max_volume', 25.0)
|
||||
pump_max_volumes.append(float(max_vol))
|
||||
|
||||
if pump_max_volumes:
|
||||
min_transfer_volume = float(min(pump_max_volumes))
|
||||
else:
|
||||
min_transfer_volume = 25.0 # 默认值
|
||||
|
||||
air_vessel = "flask_air"
|
||||
waste_vessel = f"waste_workup"
|
||||
|
||||
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||
pump_backbone = shortest_path[1: -1]
|
||||
nodes = G.nodes(data=True)
|
||||
|
||||
pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
|
||||
|
||||
min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone])
|
||||
if time != 0:
|
||||
flowrate = transfer_flowrate = volume / time
|
||||
|
||||
|
||||
pump_action_sequence = generate_pump_protocol(G, from_vessel, to_vessel, float(volume), flowrate, transfer_flowrate)
|
||||
|
||||
# 修复：只在需要清洗且相关节点存在时才执行清洗步骤
|
||||
if rinsing_solvent != "air" and pump_backbone:
|
||||
if rinsing_solvent != "air" and rinsing_solvent != "":
|
||||
if "," in rinsing_solvent:
|
||||
rinsing_solvents = rinsing_solvent.split(",")
|
||||
assert len(rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
|
||||
assert len(
|
||||
rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
|
||||
else:
|
||||
rinsing_solvents = [rinsing_solvent] * rinsing_repeats
|
||||
|
||||
|
||||
for rinsing_solvent in rinsing_solvents:
|
||||
solvent_vessel = f"flask_{rinsing_solvent}"
|
||||
|
||||
# 检查溶剂容器是否存在
|
||||
if solvent_vessel not in G.nodes:
|
||||
print(f"Warning: Solvent vessel '{solvent_vessel}' not found in graph. Skipping rinsing step.")
|
||||
continue
|
||||
|
||||
# 清洗泵 - 只有当所有必需的节点都存在且pump_backbone不为空时才执行
|
||||
if pump_backbone and len(pump_backbone) > 0 and waste_vessel in G.nodes:
|
||||
# 清洗泵
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate,
|
||||
transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate,
|
||||
transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate,
|
||||
transfer_flowrate)
|
||||
)
|
||||
# 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
|
||||
if rinsing_solvent == rinsing_solvents[0]:
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate, transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate, transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate, transfer_flowrate)
|
||||
)
|
||||
|
||||
# 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
|
||||
if rinsing_solvent == rinsing_solvents[0]:
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
|
||||
# 最后的空气清洗 - 只有当节点存在时才执行
|
||||
if air_vessel in G.nodes:
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
|
||||
generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
if rinsing_solvent != "":
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
|
||||
return pump_action_sequence
|
||||
# End Protocols
|
||||
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -0,0 +1,4 @@
|
||||
arm:
|
||||
kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
|
||||
kinematics_solver_search_resolution: 0.0050000000000000001
|
||||
kinematics_solver_timeout: 0.0050000000000000001
|
||||
@@ -0,0 +1,56 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="arm_slider_ros2_control" params="device_name mesh_path">
|
||||
<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/arm_slider/config/initial_positions.yaml')['initial_positions']}"/>
|
||||
|
||||
<ros2_control name="${device_name}arm_slider" type="system">
|
||||
<hardware>
|
||||
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
|
||||
<plugin>mock_components/GenericSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="${device_name}arm_base_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_base_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_1_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_2_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_3_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}gripper_base_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['gripper_base_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}gripper_right_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['gripper_right_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
|
||||
</ros2_control>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,46 @@
|
||||
<?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 xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:macro name="arm_slider_srdf" params="device_name">
|
||||
<!--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="${device_name}arm">
|
||||
<chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
|
||||
</group>
|
||||
<group name="${device_name}arm_gripper">
|
||||
<joint name="${device_name}gripper_right_joint"/>
|
||||
</group>
|
||||
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -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"
|
||||
}
|
||||
}
|
||||
@@ -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
|
||||
@@ -0,0 +1,2 @@
|
||||
planner_configs:
|
||||
- ompl_interface/OMPLPlanner
|
||||
@@ -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
|
||||
@@ -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
|
||||
44
unilabos/device_mesh/devices/arm_slider/joint_limit.yaml
Normal file
44
unilabos/device_mesh/devices/arm_slider/joint_limit.yaml
Normal file
@@ -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
|
||||
293
unilabos/device_mesh/devices/arm_slider/macro_device.xacro
Normal file
293
unilabos/device_mesh/devices/arm_slider/macro_device.xacro
Normal file
@@ -0,0 +1,293 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm_slider">
|
||||
|
||||
<xacro:macro name="arm_slider" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' 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/arm_slider/joint_limit.yaml')}"/>
|
||||
|
||||
<!-- Extract subsections from yaml dictionaries -->
|
||||
<xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
|
||||
|
||||
<joint name="${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}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}device_link"/>
|
||||
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="${station_name}${device_name}device_link"/>
|
||||
<child link="${station_name}${device_name}arm_slideway"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- JOINTS LIMIT PARAMETERS -->
|
||||
<xacro:property name="limit_arm_base_joint" value="${sec_limits['arm_base_joint']}" />
|
||||
<xacro:property name="limit_arm_link_1_joint" value="${sec_limits['arm_link_1_joint']}" />
|
||||
<xacro:property name="limit_arm_link_2_joint" value="${sec_limits['arm_link_2_joint']}" />
|
||||
<xacro:property name="limit_arm_link_3_joint" value="${sec_limits['arm_link_3_joint']}" />
|
||||
<xacro:property name="limit_gripper_base_joint" value="${sec_limits['gripper_base_joint']}" />
|
||||
<xacro:property name="limit_gripper_right_joint" value="${sec_limits['gripper_right_joint']}"/>
|
||||
<xacro:property name="limit_gripper_left_joint" value="${sec_limits['gripper_left_joint']}" />
|
||||
<link name="${station_name}${device_name}arm_slideway">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
|
||||
<mass value="13.6578107753627"/>
|
||||
<inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
|
||||
<parent link="${station_name}${device_name}arm_slideway"/>
|
||||
<child link="${station_name}${device_name}arm_base"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_arm_base_joint['effort']}"
|
||||
lower="${limit_arm_base_joint['lower']}"
|
||||
upper="${limit_arm_base_joint['upper']}"
|
||||
velocity="${limit_arm_base_joint['velocity']}"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}arm_base">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
|
||||
<mass value="16.1341586205194"/>
|
||||
<inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${station_name}${device_name}arm_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
|
||||
<mass value="0.828629227096429"/>
|
||||
<inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
|
||||
<parent link="${station_name}${device_name}arm_base"/>
|
||||
<child link="${station_name}${device_name}arm_link_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_1_joint['effort']}"
|
||||
lower="${limit_arm_link_1_joint['lower']}"
|
||||
upper="${limit_arm_link_1_joint['upper']}"
|
||||
velocity="${limit_arm_link_1_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}arm_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
|
||||
<mass value="2.04764861029349"/>
|
||||
<inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="${station_name}${device_name}arm_link_1"/>
|
||||
<child link="${station_name}${device_name}arm_link_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_2_joint['effort']}"
|
||||
lower="${limit_arm_link_2_joint['lower']}"
|
||||
upper="${limit_arm_link_2_joint['upper']}"
|
||||
velocity="${limit_arm_link_2_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}arm_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
|
||||
<mass value="1.19870202871083"/>
|
||||
<inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
|
||||
<parent link="${station_name}${device_name}arm_link_2"/>
|
||||
<child link="${station_name}${device_name}arm_link_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_3_joint['effort']}"
|
||||
lower="${limit_arm_link_3_joint['lower']}"
|
||||
upper="${limit_arm_link_3_joint['upper']}"
|
||||
velocity="${limit_arm_link_3_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_base">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
|
||||
<mass value="0.511925198394943"/>
|
||||
<inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
|
||||
<parent link="${station_name}${device_name}arm_link_3"/>
|
||||
<child link="${station_name}${device_name}gripper_base"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_gripper_base_joint['effort']}"
|
||||
lower="${limit_gripper_base_joint['lower']}"
|
||||
upper="${limit_gripper_base_joint['upper']}"
|
||||
velocity="${limit_gripper_base_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_right">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
|
||||
<mass value="0.013337481136229"/>
|
||||
<inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
|
||||
<parent link="${station_name}${device_name}gripper_base"/>
|
||||
<child link="${station_name}${device_name}gripper_right"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_gripper_right_joint['effort']}"
|
||||
lower="${limit_gripper_right_joint['lower']}"
|
||||
upper="${limit_gripper_right_joint['upper']}"
|
||||
velocity="${limit_gripper_right_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_left">
|
||||
<inertial>
|
||||
<origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
|
||||
<mass value="0.0133374811362292"/>
|
||||
<inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
|
||||
<origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
|
||||
<parent link="${station_name}${device_name}gripper_base"/>
|
||||
<child link="${station_name}${device_name}gripper_left"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_gripper_left_joint['effort']}"
|
||||
lower="${limit_gripper_left_joint['lower']}"
|
||||
upper="${limit_gripper_left_joint['upper']}"
|
||||
velocity="${limit_gripper_left_joint['velocity']}"/>
|
||||
<mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
BIN
unilabos/device_mesh/devices/arm_slider/meshes/arm_base.STL
Normal file
BIN
unilabos/device_mesh/devices/arm_slider/meshes/arm_base.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/arm_slider/meshes/arm_link_1.STL
Normal file
BIN
unilabos/device_mesh/devices/arm_slider/meshes/arm_link_1.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/arm_slider/meshes/arm_link_2.STL
Normal file
BIN
unilabos/device_mesh/devices/arm_slider/meshes/arm_link_2.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/arm_slider/meshes/arm_link_3.STL
Normal file
BIN
unilabos/device_mesh/devices/arm_slider/meshes/arm_link_3.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/arm_slider/meshes/arm_slideway.STL
Normal file
BIN
unilabos/device_mesh/devices/arm_slider/meshes/arm_slideway.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/arm_slider/meshes/gripper_base.STL
Normal file
BIN
unilabos/device_mesh/devices/arm_slider/meshes/gripper_base.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/arm_slider/meshes/gripper_left.STL
Normal file
BIN
unilabos/device_mesh/devices/arm_slider/meshes/gripper_left.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/arm_slider/meshes/gripper_right.STL
Normal file
BIN
unilabos/device_mesh/devices/arm_slider/meshes/gripper_right.STL
Normal file
Binary file not shown.
@@ -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
|
||||
@@ -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
|
||||
@@ -0,0 +1,4 @@
|
||||
arm:
|
||||
kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
|
||||
kinematics_solver_search_resolution: 0.0050000000000000001
|
||||
kinematics_solver_timeout: 0.0050000000000000001
|
||||
@@ -0,0 +1,56 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="benyao_arm_ros2_control" params="device_name mesh_path">
|
||||
<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
|
||||
|
||||
<ros2_control name="${device_name}benyao_arm" type="system">
|
||||
<hardware>
|
||||
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
|
||||
<plugin>mock_components/GenericSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="${device_name}arm_base_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_base_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_1_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_2_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}arm_link_3_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}gripper_base_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['gripper_base_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}gripper_right_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['gripper_right_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
|
||||
</ros2_control>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,46 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!--This does not replace URDF, and is not an extension of URDF.
|
||||
This is a format for representing semantic information about the robot structure.
|
||||
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
|
||||
-->
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:macro name="benyao_arm_srdf" params="device_name">
|
||||
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
|
||||
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
|
||||
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
|
||||
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
|
||||
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
|
||||
<group name="${device_name}arm">
|
||||
<chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
|
||||
</group>
|
||||
<group name="${device_name}arm_gripper">
|
||||
<joint name="${device_name}gripper_right_joint"/>
|
||||
</group>
|
||||
<!--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="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -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"
|
||||
}
|
||||
}
|
||||
@@ -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
|
||||
@@ -0,0 +1,2 @@
|
||||
planner_configs:
|
||||
- ompl_interface/OMPLPlanner
|
||||
@@ -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
|
||||
@@ -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
|
||||
44
unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml
Normal file
44
unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml
Normal file
@@ -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
|
||||
293
unilabos/device_mesh/devices/benyao_arm/macro_device.xacro
Normal file
293
unilabos/device_mesh/devices/benyao_arm/macro_device.xacro
Normal file
@@ -0,0 +1,293 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
|
||||
|
||||
<xacro:macro name="benyao_arm" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' 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="${xacro.load_yaml(mesh_path + '/devices/benyao_arm/joint_limit.yaml')}"/>
|
||||
|
||||
<!-- Extract subsections from yaml dictionaries -->
|
||||
<xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
|
||||
|
||||
<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}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}device_link"/>
|
||||
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="${station_name}${device_name}device_link"/>
|
||||
<child link="${station_name}${device_name}arm_slideway"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- JOINTS LIMIT PARAMETERS -->
|
||||
<xacro:property name="limit_arm_base_joint" value="${sec_limits['arm_base_joint']}" />
|
||||
<xacro:property name="limit_arm_link_1_joint" value="${sec_limits['arm_link_1_joint']}" />
|
||||
<xacro:property name="limit_arm_link_2_joint" value="${sec_limits['arm_link_2_joint']}" />
|
||||
<xacro:property name="limit_arm_link_3_joint" value="${sec_limits['arm_link_3_joint']}" />
|
||||
<xacro:property name="limit_gripper_base_joint" value="${sec_limits['gripper_base_joint']}" />
|
||||
<xacro:property name="limit_gripper_right_joint" value="${sec_limits['gripper_right_joint']}"/>
|
||||
<xacro:property name="limit_gripper_left_joint" value="${sec_limits['gripper_left_joint']}" />
|
||||
<link name="${station_name}${device_name}arm_slideway">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
|
||||
<mass value="13.6578107753627"/>
|
||||
<inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
|
||||
<parent link="${station_name}${device_name}arm_slideway"/>
|
||||
<child link="${station_name}${device_name}arm_base"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_arm_base_joint['effort']}"
|
||||
lower="${limit_arm_base_joint['lower']}"
|
||||
upper="${limit_arm_base_joint['upper']}"
|
||||
velocity="${limit_arm_base_joint['velocity']}"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}arm_base">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
|
||||
<mass value="16.1341586205194"/>
|
||||
<inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="${station_name}${device_name}arm_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
|
||||
<mass value="0.828629227096429"/>
|
||||
<inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
|
||||
<parent link="${station_name}${device_name}arm_base"/>
|
||||
<child link="${station_name}${device_name}arm_link_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_1_joint['effort']}"
|
||||
lower="${limit_arm_link_1_joint['lower']}"
|
||||
upper="${limit_arm_link_1_joint['upper']}"
|
||||
velocity="${limit_arm_link_1_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}arm_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
|
||||
<mass value="2.04764861029349"/>
|
||||
<inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="${station_name}${device_name}arm_link_1"/>
|
||||
<child link="${station_name}${device_name}arm_link_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_2_joint['effort']}"
|
||||
lower="${limit_arm_link_2_joint['lower']}"
|
||||
upper="${limit_arm_link_2_joint['upper']}"
|
||||
velocity="${limit_arm_link_2_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}arm_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
|
||||
<mass value="1.19870202871083"/>
|
||||
<inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
|
||||
<parent link="${station_name}${device_name}arm_link_2"/>
|
||||
<child link="${station_name}${device_name}arm_link_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_arm_link_3_joint['effort']}"
|
||||
lower="${limit_arm_link_3_joint['lower']}"
|
||||
upper="${limit_arm_link_3_joint['upper']}"
|
||||
velocity="${limit_arm_link_3_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_base">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
|
||||
<mass value="0.511925198394943"/>
|
||||
<inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
|
||||
<parent link="${station_name}${device_name}arm_link_3"/>
|
||||
<child link="${station_name}${device_name}gripper_base"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit
|
||||
effort="${limit_gripper_base_joint['effort']}"
|
||||
lower="${limit_gripper_base_joint['lower']}"
|
||||
upper="${limit_gripper_base_joint['upper']}"
|
||||
velocity="${limit_gripper_base_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_right">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
|
||||
<mass value="0.013337481136229"/>
|
||||
<inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
|
||||
<parent link="${station_name}${device_name}gripper_base"/>
|
||||
<child link="${station_name}${device_name}gripper_right"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_gripper_right_joint['effort']}"
|
||||
lower="${limit_gripper_right_joint['lower']}"
|
||||
upper="${limit_gripper_right_joint['upper']}"
|
||||
velocity="${limit_gripper_right_joint['velocity']}"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}gripper_left">
|
||||
<inertial>
|
||||
<origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
|
||||
<mass value="0.0133374811362292"/>
|
||||
<inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 3.1416 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
|
||||
<origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
|
||||
<parent link="${station_name}${device_name}gripper_base"/>
|
||||
<child link="${station_name}${device_name}gripper_left"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit
|
||||
effort="${limit_gripper_left_joint['effort']}"
|
||||
lower="${limit_gripper_left_joint['lower']}"
|
||||
upper="${limit_gripper_left_joint['upper']}"
|
||||
velocity="${limit_gripper_left_joint['velocity']}"/>
|
||||
<mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL
Normal file
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/arm_base.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL
Normal file
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_1.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL
Normal file
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_2.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL
Normal file
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/arm_link_3.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL
Normal file
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/arm_slideway.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL
Normal file
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/gripper_base.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL
Normal file
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/gripper_left.STL
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL
Normal file
BIN
unilabos/device_mesh/devices/benyao_arm/meshes/gripper_right.STL
Normal file
Binary file not shown.
@@ -3,11 +3,10 @@
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="opentrons_liquid_handler"
|
||||
params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0 mesh_path:=''">
|
||||
|
||||
params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0 mesh_path:=''">
|
||||
|
||||
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
|
||||
<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
|
||||
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
|
||||
<parent link="${parent_link}"/>
|
||||
<child link="${station_name}${device_name}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
|
||||
@@ -8,11 +8,11 @@
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0" >
|
||||
<xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0" >
|
||||
|
||||
|
||||
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
|
||||
<origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
|
||||
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
|
||||
<parent link="${parent_link}"/>
|
||||
<child link="${station_name}${device_name}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
|
||||
BIN
unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/hotel.png
Normal file
BIN
unilabos/device_mesh/devices/thermo_orbitor_rs2_hotel/hotel.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 59 KiB |
@@ -0,0 +1,59 @@
|
||||
<?xml version='1.0'?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="thermo_orbitor_rs2_hotel"
|
||||
params="parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0
|
||||
mesh_path:=''">
|
||||
|
||||
<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}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}device_link"/>
|
||||
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="${station_name}${device_name}device_link"/>
|
||||
<child link="${station_name}${device_name}base_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
<link name='${station_name}${device_name}base_link'>
|
||||
<visual name='visual'>
|
||||
<origin rpy="-${pi/2} 0 ${pi}" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/thermo_orbitor_rs2_hotel/meshes/hotel.stl"/>
|
||||
</geometry>
|
||||
<material name="clay">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="-${pi/2} 0 ${pi}" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/thermo_orbitor_rs2_hotel/meshes/hotel.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name='${station_name}${device_name}socketTypeGenericSbsFootprint'/>
|
||||
|
||||
<xacro:property name="delta" value="0.073" />
|
||||
<xacro:macro name='platetargets' params='num'>
|
||||
<joint name='${station_name}${device_name}socketTypeGenericSbsFootprint_${num}_60_1' type='fixed'>
|
||||
<parent link="${station_name}${device_name}base_link"/>
|
||||
<child link="${station_name}${device_name}socketTypeGenericSbsFootprint"/>
|
||||
<origin rpy="0 0 ${pi/2}" xyz="-0.002 0.011 ${(num - 1) * delta + 0.038}"/>
|
||||
</joint>
|
||||
</xacro:macro>
|
||||
|
||||
<xacro:platetargets num='1' />
|
||||
<xacro:platetargets num='2' />
|
||||
<xacro:platetargets num='3' />
|
||||
<xacro:platetargets num='4' />
|
||||
<xacro:platetargets num='5' />
|
||||
<xacro:platetargets num='6' />
|
||||
<xacro:platetargets num='7' />
|
||||
<xacro:platetargets num='8' />
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
{
|
||||
"fileName": "thermo_orbitor_rs2_hotel",
|
||||
"related": [
|
||||
"thermo_skyline_stacker",
|
||||
"thermo_cytomat2c_stacker_15",
|
||||
"thermo_fisher_cytomat_stacker_16",
|
||||
"thermo_cytomat2c_stacker_21",
|
||||
"thermo_orbitor_rs2_hotel"
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,10 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="full_dev">
|
||||
<xacro:arg name="device_name" default=""/>
|
||||
<xacro:arg name="mesh_path" default="/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh" />
|
||||
|
||||
<xacro:include filename="macro.ros2_control.xacro" />
|
||||
|
||||
<xacro:toyo_xyz_ros2_control device_name="$(arg device_name)" mesh_path="$(arg mesh_path)" />
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,6 @@
|
||||
# Default initial positions for full_dev's ros2_control fake system
|
||||
|
||||
initial_positions:
|
||||
slider1_joint: 0
|
||||
slider2_joint: 0
|
||||
slider3_joint: 0
|
||||
@@ -0,0 +1,25 @@
|
||||
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
|
||||
|
||||
# For beginners, we downscale velocity and acceleration limits.
|
||||
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
|
||||
default_velocity_scaling_factor: 0.1
|
||||
default_acceleration_scaling_factor: 0.1
|
||||
|
||||
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
|
||||
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
|
||||
joint_limits:
|
||||
slider1_joint:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
slider2_joint:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
slider3_joint:
|
||||
has_velocity_limits: false
|
||||
max_velocity: 0
|
||||
has_acceleration_limits: false
|
||||
max_acceleration: 0
|
||||
@@ -0,0 +1,4 @@
|
||||
toyo_xyz:
|
||||
kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
|
||||
kinematics_solver_search_resolution: 0.0050000000000000001
|
||||
kinematics_solver_timeout: 0.0050000000000000001
|
||||
@@ -0,0 +1,35 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="toyo_xyz_ros2_control" params="device_name mesh_path">
|
||||
<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/toyo_xyz/config/initial_positions.yaml')['initial_positions']}"/>
|
||||
|
||||
<ros2_control name="${device_name}toyo_xyz" type="system">
|
||||
<hardware>
|
||||
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
|
||||
<plugin>mock_components/GenericSystem</plugin>
|
||||
</hardware>
|
||||
<joint name="${device_name}slider1_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['slider1_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}slider2_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['slider2_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="${device_name}slider3_joint">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['slider3_joint']}</param>
|
||||
</state_interface>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
|
||||
</ros2_control>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
109
unilabos/device_mesh/devices/toyo_xyz/config/macro.srdf.xacro
Normal file
109
unilabos/device_mesh/devices/toyo_xyz/config/macro.srdf.xacro
Normal file
@@ -0,0 +1,109 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!--This does not replace URDF, and is not an extension of URDF.
|
||||
This is a format for representing semantic information about the robot structure.
|
||||
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
|
||||
-->
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:macro name="toyo_xyz_srdf" params="device_name">
|
||||
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
|
||||
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
|
||||
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
|
||||
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
|
||||
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
|
||||
<group name="${device_name}toyo_xyz">
|
||||
<chain base_link="${device_name}base_link" tip_link="${device_name}slider3_link"/>
|
||||
</group>
|
||||
<!--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="${device_name}base2_link" link2="${device_name}base3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}base_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}chain_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}end2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}end3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}end_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}fixed_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}length1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}length2_link" reason="Default"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}length3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}slider1_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}slider2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base2_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}base_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}chain_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}end2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}end3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}end_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}fixed_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}length1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}length2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}length3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}slider1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}slider2_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}base3_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base_link" link2="${device_name}chain_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base_link" link2="${device_name}end2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base_link" link2="${device_name}end3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base_link" link2="${device_name}end_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}base_link" link2="${device_name}fixed_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base_link" link2="${device_name}length1_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}base_link" link2="${device_name}length2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base_link" link2="${device_name}length3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base_link" link2="${device_name}slider1_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}base_link" link2="${device_name}slider2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}base_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}chain_link" link2="${device_name}end2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}chain_link" link2="${device_name}end3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}chain_link" link2="${device_name}end_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}chain_link" link2="${device_name}fixed_link" reason="Default"/>
|
||||
<disable_collisions link1="${device_name}chain_link" link2="${device_name}length1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}chain_link" link2="${device_name}length2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}chain_link" link2="${device_name}length3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}chain_link" link2="${device_name}slider1_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}chain_link" link2="${device_name}slider2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}chain_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end2_link" link2="${device_name}end3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end2_link" link2="${device_name}end_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end2_link" link2="${device_name}fixed_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end2_link" link2="${device_name}length1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end2_link" link2="${device_name}length2_link" reason="Default"/>
|
||||
<disable_collisions link1="${device_name}end2_link" link2="${device_name}length3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end2_link" link2="${device_name}slider1_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}end2_link" link2="${device_name}slider2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end2_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end3_link" link2="${device_name}end_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end3_link" link2="${device_name}fixed_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end3_link" link2="${device_name}length1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end3_link" link2="${device_name}length2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end3_link" link2="${device_name}length3_link" reason="Default"/>
|
||||
<disable_collisions link1="${device_name}end3_link" link2="${device_name}slider1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end3_link" link2="${device_name}slider2_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}end3_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end_link" link2="${device_name}fixed_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end_link" link2="${device_name}length1_link" reason="Default"/>
|
||||
<disable_collisions link1="${device_name}end_link" link2="${device_name}length2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end_link" link2="${device_name}length3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end_link" link2="${device_name}slider1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end_link" link2="${device_name}slider2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}end_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}length1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}length2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}length3_link" reason="Default"/>
|
||||
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}slider1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}slider2_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}fixed_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}length1_link" link2="${device_name}length2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}length1_link" link2="${device_name}length3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}length1_link" link2="${device_name}slider1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}length1_link" link2="${device_name}slider2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}length1_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}length2_link" link2="${device_name}length3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}length2_link" link2="${device_name}slider1_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}length2_link" link2="${device_name}slider2_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}length2_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}length3_link" link2="${device_name}slider1_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}length3_link" link2="${device_name}slider2_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}length3_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}slider1_link" link2="${device_name}slider2_link" reason="Adjacent"/>
|
||||
<disable_collisions link1="${device_name}slider1_link" link2="${device_name}slider3_link" reason="Never"/>
|
||||
<disable_collisions link1="${device_name}slider2_link" link2="${device_name}slider3_link" reason="Adjacent"/>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
12
unilabos/device_mesh/devices/toyo_xyz/config/move_group.json
Normal file
12
unilabos/device_mesh/devices/toyo_xyz/config/move_group.json
Normal file
@@ -0,0 +1,12 @@
|
||||
{
|
||||
"toyo_xyz":
|
||||
{
|
||||
"joint_names": [
|
||||
"slider1_joint",
|
||||
"slider2_joint",
|
||||
"slider3_joint"
|
||||
],
|
||||
"base_link_name": "device_link",
|
||||
"end_effector_name": "slider3_link"
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,16 @@
|
||||
# MoveIt uses this configuration for controller management
|
||||
|
||||
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
|
||||
|
||||
moveit_simple_controller_manager:
|
||||
controller_names:
|
||||
- toyo_xyz_controller
|
||||
|
||||
toyo_xyz_controller:
|
||||
type: FollowJointTrajectory
|
||||
action_ns: follow_joint_trajectory
|
||||
default: true
|
||||
joints:
|
||||
- slider1_joint
|
||||
- slider2_joint
|
||||
- slider3_joint
|
||||
@@ -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
|
||||
@@ -0,0 +1,34 @@
|
||||
# This config file is used by ros2_control
|
||||
controller_manager:
|
||||
|
||||
ros__parameters:
|
||||
update_rate: 100 # Hz
|
||||
|
||||
joint_state_broadcaster:
|
||||
type: joint_state_broadcaster/JointStateBroadcaster
|
||||
# action_ns: $(var device_id)
|
||||
toyo_xyz_controller:
|
||||
type: joint_trajectory_controller/JointTrajectoryController
|
||||
|
||||
# joint_state_broadcaster:
|
||||
# ros__parameters: {}
|
||||
|
||||
toyo_xyz_controller:
|
||||
ros__parameters:
|
||||
joints:
|
||||
- slider1_joint
|
||||
- slider2_joint
|
||||
- slider3_joint
|
||||
command_interfaces:
|
||||
- position
|
||||
state_interfaces:
|
||||
- position
|
||||
- velocity
|
||||
allow_partial_joints_goal: false
|
||||
open_loop_control: true
|
||||
allow_integration_in_goal_trajectories: true
|
||||
action_monitor_rate: 20.0
|
||||
# goal_time: 0.0
|
||||
# constraints:
|
||||
# stopped_velocity_tolerance: 0.01
|
||||
# goal_time: 0.0
|
||||
14
unilabos/device_mesh/devices/toyo_xyz/joint_config.json
Normal file
14
unilabos/device_mesh/devices/toyo_xyz/joint_config.json
Normal file
@@ -0,0 +1,14 @@
|
||||
{
|
||||
"slider1_joint": {
|
||||
"child":"slider1_link",
|
||||
"axis" : "x"
|
||||
},
|
||||
"slider2_joint": {
|
||||
"child":"slider2_link",
|
||||
"axis" : "x"
|
||||
},
|
||||
"slider3_joint": {
|
||||
"child":"slider3_link",
|
||||
"axis" : "x"
|
||||
}
|
||||
}
|
||||
465
unilabos/device_mesh/devices/toyo_xyz/macro_device.xacro
Normal file
465
unilabos/device_mesh/devices/toyo_xyz/macro_device.xacro
Normal file
@@ -0,0 +1,465 @@
|
||||
<?xml version="1.0" ?>
|
||||
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="toyo_xyz"
|
||||
params="length1:=0.1 min_d1:=0.01 max_d1:=0.01 slider_d1:=0.135
|
||||
length2:=0.1 min_d2:=0.01 max_d2:=0.01 slider_d2:=0.116
|
||||
length3:=0.1 min_d3:=0.01 max_d3:=0.01 slider_d3:=0.090
|
||||
parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0
|
||||
mesh_path:=''">
|
||||
|
||||
|
||||
<joint name="${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}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}device_link"/>
|
||||
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
|
||||
<origin xyz="${-min_d1} 0 0" rpy="0 0 0" />
|
||||
<parent link="${station_name}${device_name}device_link"/>
|
||||
<child link="${station_name}${device_name}base_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.0120236017581094 -0.0517106842624209 0.0409192044637189"/>
|
||||
<mass value="0.69481680376074"/>
|
||||
<inertia ixx="0.000936712501344659" ixy="7.23677144617562E-06" ixz="-1.24166862138852E-06" iyy="0.000379264833590696" iyz="9.52650081379508E-07" izz="0.000898185165939333"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="${station_name}${device_name}length1_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.494579219297241 -0.0104662192149046 0.020043711867505"/>
|
||||
<mass value="5.94417515905243"/>
|
||||
<inertia ixx="0.00674507129097306" ixy="9.38238612394185E-09" ixz="4.35684774317116E-06" iyy="0.485770401104387" iyz="2.57353070463078E-06" izz="0.489757831272925"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length1_link.STL" scale="${(length1 + min_d1 + max_d1 + slider_d1)} 1 1"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length1_link.STL" scale="${(length1 + min_d1 + max_d1 + slider_d1)} 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}length1_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="${station_name}${device_name}base_link"/>
|
||||
<child link="${station_name}${device_name}length1_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}slider1_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.00730412052530301"/>
|
||||
<mass value="0.118155140657232"/>
|
||||
<inertia ixx="6.43342434854928E-05" ixy="-2.31210361323828E-11" ixz="3.06922820322201E-10" iyy="0.000154199389116579" iyz="1.20524516927812E-08" izz="0.000215806482689218"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider1_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider1_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}slider1_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="${min_d1 + slider_d1/2} 0 0.078"/>
|
||||
<parent link="${station_name}${device_name}base_link"/>
|
||||
<child link="${station_name}${device_name}slider1_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="0" lower="0" upper="${length1}" velocity="0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}chain_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.49922930196331 -0.00327071484975672 0.0207539916460562"/>
|
||||
<mass value="2.00787563607981"/>
|
||||
<inertia ixx="0.00240786362662634" ixy="1.44801915606072E-05" ixz="-3.1726019259437E-05" iyy="0.167850452350525" iyz="-0.000138217054257536" izz="0.168373005725347"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/chain_link.STL" scale="${(length2 + min_d2 + max_d2 + slider_d2)} 1 1"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/chain_link.STL" scale="${(length2 + min_d2 + max_d2 + slider_d2)} 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}chain_joint" type="fixed">
|
||||
<origin rpy="0 0 1.5708" xyz="-0.02 -0.041 -0.0005"/>
|
||||
<parent link="${station_name}${device_name}slider1_link"/>
|
||||
<child link="${station_name}${device_name}chain_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}base2_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00645898766177746 0.0354023221709439 0.0277640039757229"/>
|
||||
<mass value="0.341816215620884"/>
|
||||
<inertia ixx="0.000246380769664854" ixy="-3.5162220656232E-06" ixz="3.72156984182819E-08" iyy="0.00014938476423929" iyz="-2.01567401863811E-06" izz="0.000271539741067036"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base2_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base2_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}base2_joint" type="fixed">
|
||||
<origin rpy="1.5708 0 1.5708" xyz="-0.0145 0.0295 0.04915"/>
|
||||
<parent link="${station_name}${device_name}slider1_link"/>
|
||||
<child link="${station_name}${device_name}base2_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}slider2_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-1.94863440558524E-06 -4.2412482447185E-05 -0.00600639156586869"/>
|
||||
<mass value="0.0568102419437891"/>
|
||||
<inertia ixx="1.29719509999494E-05" ixy="-2.84670156002291E-09" ixz="-1.99529353027075E-10" iyy="5.43277686573641E-05" iyz="-5.94709690026503E-09" izz="6.6299564390705E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider2_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider2_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}slider2_joint" type="prismatic">
|
||||
<origin rpy="1.5708 0 1.5708" xyz="0.0455 ${min_d2 + slider_d2/2 + 0.0295} 0.049"/>
|
||||
<parent link="${station_name}${device_name}slider1_link"/>
|
||||
<child link="${station_name}${device_name}slider2_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="0" lower="0" upper="${length2}" velocity="0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}length2_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.495 -0.00012803097983341 0.0216248093421714"
|
||||
rpy="0 0 0" />
|
||||
<mass value="2.0281266583716" />
|
||||
<inertia
|
||||
ixx="0.000735867784216875"
|
||||
ixy="4.46823528502648E-18"
|
||||
ixz="1.62564733709183E-17"
|
||||
iyy="0.166018547616233"
|
||||
iyz="8.35811182464874E-07"
|
||||
izz="0.166011809812984" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length2_link.STL" scale="${(length2 + min_d2 + max_d2 + slider_d2)} 1 1"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length2_link.STL" scale="${(length2 + min_d2 + max_d2 + slider_d2)} 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}length2_joint" type="fixed">
|
||||
<origin xyz="-0.0145 0.0295 0.04915" rpy="1.5708 0 1.5708" />
|
||||
<parent link="${station_name}${device_name}slider1_link" />
|
||||
<child link="${station_name}${device_name}length2_link" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}fixed_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0841027924880233 -1.38777878078145E-17 -0.00753342821771308"/>
|
||||
<mass value="0.114714657110459"/>
|
||||
<inertia ixx="4.09226560926746E-05" ixy="-1.19246814602201E-20" ixz="1.10812310425511E-07" iyy="0.000219464025912457" iyz="-3.47441993328604E-22" izz="0.000257639354963189"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/fixed_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/fixed_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}fixed_joint" type="fixed">
|
||||
<origin rpy="0 0 -1.5708" xyz="0 0.113 0.013"/>
|
||||
<parent link="${station_name}${device_name}slider2_link"/>
|
||||
<child link="${station_name}${device_name}fixed_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}base3_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.0898266891415951 -0.000686554465181816 0.0214841690633115"/>
|
||||
<mass value="0.253768676399038"/>
|
||||
<inertia ixx="7.3143781299483E-05" ixy="-9.27468544438197E-07" ixz="-6.25920202213005E-07" iyy="0.000222729105415939" iyz="1.73297633775367E-06" izz="0.000226940773440045"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base3_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/base3_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}base3_joint" type="fixed">
|
||||
<origin rpy="0 0 -1.5708" xyz="0 0.113 0.013"/>
|
||||
<parent link="${station_name}${device_name}slider2_link"/>
|
||||
<child link="${station_name}${device_name}base3_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}length3_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.495 2.22485346140083E-05 0.017182121490278"/>
|
||||
<mass value="1.46660245378617"/>
|
||||
<inertia ixx="0.000378412905544255" ixy="6.68641853450019E-20" ixz="1.30946080093724E-18" iyy="0.119979432170624" iyz="5.03952092605041E-07" izz="0.11996849156089"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length3_link.STL" scale="${(length3 + min_d3 + max_d3 + slider_d3)} 1 1"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/length3_link.STL" scale="${(length3 + min_d3 + max_d3 + slider_d3)} 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}length3_joint" type="fixed">
|
||||
<origin rpy="0 0 -1.5708" xyz="0 0.113 0.013"/>
|
||||
<parent link="${station_name}${device_name}slider2_link"/>
|
||||
<child link="${station_name}${device_name}length3_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}slider3_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="6.92336766672241E-06 2.33762226242717E-09 -0.0056316911606703"/>
|
||||
<mass value="0.0319537658681183"/>
|
||||
<inertia ixx="4.74895305241407E-06" ixy="-2.68838717157416E-13" ixz="4.74105113238926E-10" iyy="1.78967089054364E-05" iyz="-4.41481885417567E-13" izz="2.21974556051535E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider3_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/slider3_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}slider3_joint" type="prismatic">
|
||||
<origin rpy="0 0 -1.5708" xyz="0 ${0.113 - min_d3 - slider_d3/2} 0.0635"/>
|
||||
<parent link="${station_name}${device_name}slider2_link"/>
|
||||
<child link="${station_name}${device_name}slider3_link"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="0" lower="0" upper="${length3}" velocity="0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}end3_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00497294496885192 -2.44043265976157E-06 0.0183349877681029"/>
|
||||
<mass value="0.0140489551253671"/>
|
||||
<inertia ixx="3.43932725883609E-06" ixy="4.00452842192135E-11" ixz="-1.53817578472123E-08" iyy="1.94727500633638E-06" iyz="-3.82376052540752E-10" izz="1.72263562631362E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end3_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end3_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}end3_joint" type="fixed">
|
||||
<origin rpy="0 0 -1.5708" xyz="0 -${min_d3 + slider_d3 + length3 + max_d3 -0.113} 0.013"/>
|
||||
<parent link="${station_name}${device_name}slider2_link"/>
|
||||
<child link="${station_name}${device_name}end3_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}end2_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00495670363919842 -8.74633492434218E-06 0.0214414396703796"/>
|
||||
<mass value="0.0200788183514264"/>
|
||||
<inertia ixx="7.16397592830092E-06" ixy="4.75643325623778E-11" ixz="-2.20469268570818E-08" iyy="3.90488015971723E-06" iyz="-3.17180365916489E-09" izz="3.58779761734039E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end2_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end2_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}end2_joint" type="fixed">
|
||||
<origin rpy="1.5708 0 1.5708" xyz="-0.0135 ${min_d2 + slider_d2 + length2 + max_d2 + 0.0295} 0.0492"/>
|
||||
<parent link="${station_name}${device_name}slider1_link"/>
|
||||
<child link="${station_name}${device_name}end2_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name="${station_name}${device_name}end_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00744127217617607 -2.30544170541074E-06 0.0287548952899474"/>
|
||||
<mass value="0.0648209796507272"/>
|
||||
<inertia ixx="4.85939921252094E-05" ixy="1.05486327324319E-09" ixz="-4.17427158603031E-08" iyy="2.1549381051207E-05" iyz="2.1129085201095E-09" izz="2.9433994127647E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.756862745098039 0.768627450980392 0.752941176470588 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/toyo_xyz/meshes/end_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}end_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="${min_d1 + length1 + max_d1 + slider_d1} 0 0.001"/>
|
||||
<parent link="${station_name}${device_name}base_link"/>
|
||||
<child link="${station_name}${device_name}end_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base2_link.STL
Executable file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base2_link.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base2_link.fbx
Normal file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base2_link.fbx
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base3_link.STL
Executable file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base3_link.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base3_link.fbx
Normal file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base3_link.fbx
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base_link.STL
Executable file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base_link.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base_link.fbx
Normal file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/base_link.fbx
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/chain_link.STL
Executable file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/chain_link.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/chain_link.fbx
Normal file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/chain_link.fbx
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/end2_link.STL
Executable file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/end2_link.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/end2_link.fbx
Normal file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/end2_link.fbx
Normal file
Binary file not shown.
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/end3_link.STL
Executable file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/end3_link.STL
Executable file
Binary file not shown.
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/end3_link.fbx
Normal file
BIN
unilabos/device_mesh/devices/toyo_xyz/meshes/end3_link.fbx
Normal file
Binary file not shown.
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user