fix: Protocol node resource run (#65)

* stir和adjustph的中的bug修不好

* fix sub-resource query in protocol node compiling

* add resource placeholder to vessels

* add the rest yaml

* Update work_station.yaml

---------

Co-authored-by: KCFeng425 <2100011801@stu.pku.edu.cn>

.conda/recipe.yaml

@@ -1,89 +0,0 @@
-package:
-  name: unilabos
-  version: 0.10.3
-
-source:
-  path: ../unilabos
-  target_directory: unilabos
-
-build:
-  python:
-    entry_points:
-     - unilab = unilabos.app.main:main
-     - unilab-register = unilabos.app.register:main
-  script:
-  - set PIP_NO_INDEX=
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
-    - call %PYTHON% -m pip install %SRC_DIR%
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
-    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
-    - cp $RECIPE_DIR/../setup.py $SRC_DIR
-    - $PYTHON -m pip install $SRC_DIR
-
-
-requirements:
-  host:
-  - python ==3.11.11
-  - pip
-  - setuptools
-  run:
-  - conda-forge::python ==3.11.11
-  - compilers
-  - cmake
-  - ninja
-  - if: unix
-    then:
-    - make
-  - sphinx
-  - sphinx_rtd_theme
-  - numpy
-  - scipy
-  - pandas
-  - networkx
-  - matplotlib
-  - pint
-  - pyserial
-  - pyusb
-  - pylibftdi
-  - pymodbus
-  - python-can
-  - pyvisa
-  - opencv
-  - pydantic
-  - fastapi
-  - uvicorn
-  - gradio
-  - flask
-  - websocket
-  - ipython
-  - jupyter
-  - jupyros
-  - colcon-common-extensions
-  - robostack-staging::ros-humble-desktop-full
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-sensor-msgs
-  - robostack-staging::ros-humble-trajectory-msgs
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
-  - ros-humble-rosbridge-server
-  - ros-humble-cv-bridge
-  - ros-humble-tf2
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
-  - ros-humble-simulation
-  - ros-humble-tf-transformations
-  - transforms3d
-  - uni-lab::ros-humble-unilabos-msgs
-
-about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
-  license: GPL-3.0
-  description: "Uni-Lab-OS"

.conda/scripts/post-link.bat

@@ -1,9 +0,0 @@
-@echo off
-setlocal enabledelayedexpansion
-
-REM upgrade pip
-"%PREFIX%\python.exe" -m pip install --upgrade pip
-
-REM install extra deps
-"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
-"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.conda/scripts/post-link.sh

@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-set -euxo pipefail
-
-# make sure pip is available
-"$PREFIX/bin/python" -m pip install --upgrade pip
-
-# install extra deps
-"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
-"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.github/workflows/multi-platform-build.yml

@@ -2,21 +2,16 @@ name: Multi-Platform Conda Build
 
 on:
   push:
-    branches: [main, dev]
-    tags: ['v*']
+    branches: [ main, dev ]
+    tags: [ 'v*' ]
   pull_request:
-    branches: [main, dev]
+    branches: [ main, dev ]
   workflow_dispatch:
     inputs:
       platforms:
         description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
         required: false
         default: 'osx-arm64'
-      upload_to_anaconda:
-        description: '是否上传到Anaconda.org'
-        required: false
-        default: false
-        type: boolean
 
 jobs:
   build:
@@ -24,18 +19,18 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-latest
-            platform: linux-64
-            env_file: unilabos-linux-64.yaml
-          - os: macos-13 # Intel
-            platform: osx-64
-            env_file: unilabos-osx-64.yaml
-          - os: macos-latest # ARM64
-            platform: osx-arm64
-            env_file: unilabos-osx-arm64.yaml
-          - os: windows-latest
-            platform: win-64
-            env_file: unilabos-win64.yaml
+        - os: ubuntu-latest
+          platform: linux-64
+          env_file: unilabos-linux-64.yaml
+        - os: macos-13 # Intel
+          platform: osx-64
+          env_file: unilabos-osx-64.yaml
+        - os: macos-latest # ARM64
+          platform: osx-arm64
+          env_file: unilabos-osx-arm64.yaml
+        - os: windows-latest
+          platform: win-64
+          env_file: unilabos-win64.yaml
 
     runs-on: ${{ matrix.os }}
 
@@ -44,88 +39,94 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: Check if platform should be built
-        id: should_build
-        run: |
-          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          else
-            echo "should_build=false" >> $GITHUB_OUTPUT
-          fi
+    - name: Check if platform should be built
+      id: should_build
+      run: |
+        if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
+          echo "should_build=true" >> $GITHUB_OUTPUT
+        elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+          echo "should_build=true" >> $GITHUB_OUTPUT
+        elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
+          echo "should_build=true" >> $GITHUB_OUTPUT
+        else
+          echo "should_build=false" >> $GITHUB_OUTPUT
+        fi
 
-      - name: Setup Miniconda
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
-        with:
-          miniconda-version: 'latest'
-          channels: conda-forge,robostack-staging,defaults
-          channel-priority: strict
-          activate-environment: build-env
-          auto-activate-base: false
-          auto-update-conda: false
-          show-channel-urls: true
+    - name: Setup Miniconda
+      if: steps.should_build.outputs.should_build == 'true'
+      uses: conda-incubator/setup-miniconda@v3
+      with:
+        miniconda-version: "latest"
+        channels: conda-forge,robostack-staging,defaults
+        channel-priority: strict
+        activate-environment: build-env
+        auto-activate-base: false
+        auto-update-conda: false
+        show-channel-urls: true
 
-      - name: Install rattler-build and anaconda-client
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          conda install -c conda-forge rattler-build anaconda-client
+    - name: Install boa and build tools
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        conda install -c conda-forge boa conda-build
 
-      - name: Show environment info
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          conda info
-          conda list | grep -E "(rattler-build|anaconda-client)"
-          echo "Platform: ${{ matrix.platform }}"
-          echo "OS: ${{ matrix.os }}"
+    - name: Show environment info
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        conda info
+        conda list | grep -E "(boa|conda-build)"
+        echo "Platform: ${{ matrix.platform }}"
+        echo "OS: ${{ matrix.os }}"
 
-      - name: Build conda package
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
-            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
-          else
-            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
-          fi
+    - name: Build conda package
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
+          boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
+        else
+          boa build -m ./recipes/conda_build_config.yaml ./recipes/ros-humble-unilabos-msgs
+        fi
 
-      - name: List built packages
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          echo "Built packages in output directory:"
-          find ./output -name "*.conda" | head -10
-          ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
-          ls -la ./output/noarch/ || echo "noarch directory not found"
-          echo "Output directory structure:"
-          find ./output -type f -name "*.conda"
+    - name: List built packages
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        echo "Built packages in conda-bld:"
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" | head -10
+        ls -la $CONDA_PREFIX/conda-bld/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
+        ls -la $CONDA_PREFIX/conda-bld/noarch/ || echo "noarch directory not found"
+        echo "CONDA_PREFIX: $CONDA_PREFIX"
+        echo "Full path would be: $CONDA_PREFIX/conda-bld/**/*.tar.bz2"
 
-      - name: Prepare artifacts for upload
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          mkdir -p conda-packages-temp
-          find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
-          echo "Copied files to temp directory:"
-          ls -la conda-packages-temp/
+    - name: Prepare artifacts for upload
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        mkdir -p ${{ runner.temp }}/conda-packages
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} ${{ runner.temp }}/conda-packages/ \;
+        echo "Copied files to temp directory:"
+        ls -la ${{ runner.temp }}/conda-packages/
 
-      - name: Upload conda package artifacts
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
-        with:
-          name: conda-package-${{ matrix.platform }}
-          path: conda-packages-temp
-          if-no-files-found: warn
-          retention-days: 30
+    - name: Upload conda package artifacts
+      if: steps.should_build.outputs.should_build == 'true'
+      uses: actions/upload-artifact@v4
+      with:
+        name: conda-package-${{ matrix.platform }}
+        path: ${{ runner.temp }}/conda-packages
+        if-no-files-found: warn
+        retention-days: 30
 
-      - name: Upload to Anaconda.org (unilab organization)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          for package in $(find ./output -name "*.conda"); do
-            echo "Uploading $package to unilab organization..."
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done
+    - name: Create release assets (on tags)
+      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
+      run: |
+        mkdir -p release-assets
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} release-assets/ \;
+
+    - name: Upload to release
+      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
+      uses: softprops/action-gh-release@v1
+      with:
+        files: release-assets/*
+        draft: false
+        prerelease: false

.github/workflows/unilabos-conda-build.yml

@@ -1,124 +0,0 @@
-name: UniLabOS Conda Build
-
-on:
-  push:
-    branches: [main, dev]
-    tags: ['v*']
-  pull_request:
-    branches: [main, dev]
-  workflow_dispatch:
-    inputs:
-      platforms:
-        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
-        required: false
-        default: 'linux-64'
-      upload_to_anaconda:
-        description: '是否上传到Anaconda.org'
-        required: false
-        default: false
-        type: boolean
-
-jobs:
-  build:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            platform: linux-64
-          - os: macos-13 # Intel
-            platform: osx-64
-          - os: macos-latest # ARM64
-            platform: osx-arm64
-          - os: windows-latest
-            platform: win-64
-
-    runs-on: ${{ matrix.os }}
-
-    defaults:
-      run:
-        shell: bash -l {0}
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Check if platform should be built
-        id: should_build
-        run: |
-          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          else
-            echo "should_build=false" >> $GITHUB_OUTPUT
-          fi
-
-      - name: Setup Miniconda
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
-        with:
-          miniconda-version: 'latest'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
-          channel-priority: strict
-          activate-environment: build-env
-          auto-activate-base: false
-          auto-update-conda: false
-          show-channel-urls: true
-
-      - name: Install rattler-build and anaconda-client
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          conda install -c conda-forge rattler-build anaconda-client
-
-      - name: Show environment info
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          conda info
-          conda list | grep -E "(rattler-build|anaconda-client)"
-          echo "Platform: ${{ matrix.platform }}"
-          echo "OS: ${{ matrix.os }}"
-          echo "Building UniLabOS package"
-
-      - name: Build conda package
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
-
-      - name: List built packages
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          echo "Built packages in output directory:"
-          find ./output -name "*.conda" | head -10
-          ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
-          ls -la ./output/noarch/ || echo "noarch directory not found"
-          echo "Output directory structure:"
-          find ./output -type f -name "*.conda"
-
-      - name: Prepare artifacts for upload
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          mkdir -p conda-packages-temp
-          find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
-          echo "Copied files to temp directory:"
-          ls -la conda-packages-temp/
-
-      - name: Upload conda package artifacts
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
-        with:
-          name: conda-package-unilabos-${{ matrix.platform }}
-          path: conda-packages-temp
-          if-no-files-found: warn
-          retention-days: 30
-
-      - name: Upload to Anaconda.org (uni-lab organization)
-        if: github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          for package in $(find ./output -name "*.conda"); do
-            echo "Uploading $package to uni-lab organization..."
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done

.gitignore

@@ -1,7 +1,5 @@
 configs/
 temp/
-output/
-unilabos_data/
 ## Python
 
 # Byte-compiled / optimized / DLL files
@@ -244,5 +242,3 @@ unilabos/device_mesh/view_robot.rviz
 **/.certs
 local_test2.py
 ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
-*.bz2
-test_config.py

MANIFEST.in

@@ -1,5 +1,5 @@
 recursive-include unilabos/registry *.yaml
-recursive-include unilabos/app/web/static *
-recursive-include unilabos/app/web/templates *
+recursive-include unilabos/app/web *.html
+recursive-include unilabos/app/web *.css
 recursive-include unilabos/device_mesh/devices *
 recursive-include unilabos/device_mesh/resources *

README.md

@@ -34,14 +34,30 @@ Detailed documentation can be found at:
 
 ## Quick Start
 
+1. Configure Conda Environment
+
 Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
 
 ```bash
 # Create new environment
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba env create -f unilabos-[YOUR_OS].yaml
+mamba activate unilab
+
+# Or update existing environment
+# Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
+conda env update --file unilabos-[YOUR_OS].yml -n environment_name
+
+# Currently, you need to install the `unilabos_msgs` package
+# You can download the system-specific package from the Release page
+conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
+
+# Install PyLabRobot and other prerequisites
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
 ```
 
-## Install Dev Uni-Lab-OS
+2. Install Uni-Lab-OS:
 
 ```bash
 # Clone the repository

README_zh.md

@@ -40,10 +40,24 @@ Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适
 
 ```bash
 # 创建新环境
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba env create -f unilabos-[YOUR_OS].yaml
+mamba activate unilab
+
+# 或更新现有环境
+# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
+conda env update --file unilabos-[YOUR_OS].yml -n 环境名
+
+# 现阶段，需要安装 `unilabos_msgs` 包
+# 可以前往 Release 页面下载系统对应的包进行安装
+conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
+
+# 安装PyLabRobot等前置
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
 ```
 
-2. 安装开发版Uni-Lab-OS:
+2. 安装 Uni-Lab-OS:
 
 ```bash
 # 克隆仓库

recipes/msgs/recipe.yaml

@@ -1,76 +0,0 @@
-package:
-  name: ros-humble-unilabos-msgs
-  version: 0.10.3
-source:
-  path: ../../unilabos_msgs
-  target_directory: src
-
-build:
-  script:
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\bld_ament_cmake.bat %SRC_DIR%
-    - call %SRC_DIR%\bld_ament_cmake.bat
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/build_ament_cmake.sh $SRC_DIR
-    - bash $SRC_DIR/build_ament_cmake.sh
-
-about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
-  license: BSD-3-Clause
-  description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
-
-requirements:
-  build:
-  - ${{ compiler('cxx') }}
-  - ${{ compiler('c') }}
-  - python ==3.11.11
-  - numpy
-  - if: build_platform != target_platform
-    then:
-    - pkg-config
-    - cross-python_${{ target_platform }}
-  - if: linux and x86_64
-    then:
-    - sysroot_linux-64 ==2.17
-  - ninja
-  - setuptools
-  - cython
-  - cmake
-  - if: unix
-    then:
-    - make
-    - coreutils
-  - if: osx
-    then:
-    - tapi
-  - if: win
-    then:
-    - vs2022_win-64
-  host:
-  - numpy
-  - pip
-  - if: build_platform == target_platform
-    then:
-    - pkg-config
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ament-cmake
-  - robostack-staging::ros-humble-ament-lint-auto
-  - robostack-staging::ros-humble-ament-lint-common
-  - robostack-staging::ros-humble-ros-environment
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-generators
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
-  run:
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-runtime
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
-  - if: osx and x86_64
-    then:
-    - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat

@@ -1,7 +1,6 @@
 :: Generated by vinca http://github.com/RoboStack/vinca.
 :: DO NOT EDIT!
-@echo off
-setlocal enabledelayedexpansion
+setlocal EnableDelayedExpansion
 
 set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
 
@@ -17,11 +16,9 @@ pushd build
 
 :: try to fix long paths issues by using default generator
 set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
 
 set PYTHON="%PREFIX%\python.exe"
-set PYTHON=%PYTHON:\=/%
-set SP_DIR="..\Lib\site-packages"
-set SP_DIR=%SP_DIR:\=/%
 
 cmake ^
     -G "%CMAKE_GENERATOR%" ^
@@ -35,10 +32,10 @@ cmake ^
     -DBUILD_SHARED_LIBS=ON ^
     -DBUILD_TESTING=OFF ^
     -DCMAKE_OBJECT_PATH_MAX=255 ^
-    -DPYTHON_INSTALL_DIR=%SP_DIR% ^
+    -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
     --compile-no-warning-as-error ^
-    %SRC_DIR%\src
+    %SRC_DIR%\%PKG_NAME%\src\work
 if errorlevel 1 exit 1
 
-cmake --build . --config Release --target install -j8
-if errorlevel 1 exit 1
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1

recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh

@@ -24,7 +24,7 @@ echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
 export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
 echo "Using Python ${ROS_PYTHON_VERSION}"
 # Fix up SP_DIR which for some reason might contain a path to a wrong Python version
-FIXED_SP_DIR=$($PYTHON_EXECUTABLE -c "import site; print(site.getsitepackages()[0])")
+FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/")
 echo "Using site-package dir ${FIXED_SP_DIR}"
 
 # see https://github.com/conda-forge/cross-python-feedstock/issues/24
@@ -56,6 +56,7 @@ cmake \
     -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
     -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
     -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_FIND_STRATEGY=LOCATION \
     -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
     -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \
     -DSETUPTOOLS_DEB_LAYOUT=OFF \
@@ -65,6 +66,6 @@ cmake \
     -DBUILD_TESTING=OFF \
     -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
     --compile-no-warning-as-error \
-    $SRC_DIR/src
+    $SRC_DIR/$PKG_NAME/src/work
 
-cmake --build . --config Release --target install -j8
+cmake --build . --config Release --target install

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -0,0 +1,61 @@
+package:
+  name: ros-humble-unilabos-msgs
+  version: 0.9.13
+source:
+  path: ../../unilabos_msgs
+  folder: ros-humble-unilabos-msgs/src/work
+
+build:
+  script:
+    sel(win): bld_ament_cmake.bat
+    sel(unix): build_ament_cmake.sh
+  number: 5
+about:
+  home: https://www.ros.org/
+  license: BSD-3-Clause
+  summary: |
+    Robot Operating System
+
+extra:
+  recipe-maintainers:
+    - ros-forge
+
+requirements:
+  build:
+    - "{{ compiler('cxx') }}"
+    - "{{ compiler('c') }}"
+    - sel(linux64): sysroot_linux-64 2.17
+    - ninja
+    - setuptools
+    - sel(unix): make
+    - sel(unix): coreutils
+    - sel(osx): tapi
+    - sel(build_platform != target_platform): pkg-config
+    - cmake
+    - cython
+    - sel(win): vs2022_win-64
+    - sel(build_platform != target_platform): python
+    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
+    - sel(build_platform != target_platform): numpy
+  host:
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ament-cmake
+    - robostack-staging::ros-humble-ament-lint-auto
+    - robostack-staging::ros-humble-ament-lint-common
+    - robostack-staging::ros-humble-ros-environment
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-generators
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+    - robostack-staging::ros2-distro-mutex=0.5.*
+  run:
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-runtime
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+#    - robostack-staging::ros2-distro-mutex=0.6.*
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.3"
+  version: "0.9.13"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.3',
+    version='0.9.13',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/experiments/comprehensive_protocol/comprehensive_slim.json

@@ -1,70 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "OrganicSynthesisStation",
-            "name": "有机化学流程综合测试工作站",
-            "children": [
-                "heater_1"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 600,
-                "y": 400,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": [
-                    "AddProtocol",
-                    "TransferProtocol",
-                    "StartStirProtocol",
-                    "StopStirProtocol",
-                    "StirProtocol",
-                    "RunColumnProtocol",
-                    "CentrifugeProtocol",
-                    "FilterProtocol",
-                    "CleanVesselProtocol",
-                    "DissolveProtocol",
-                    "FilterThroughProtocol",
-                    "WashSolidProtocol",
-                    "SeparateProtocol",
-                    "EvaporateProtocol",
-                    "HeatChillProtocol",
-                    "HeatChillStartProtocol",
-                    "HeatChillStopProtocol",
-                    "EvacuateAndRefillProtocol",
-                    "PumpTransferProtocol",
-                    "AdjustPHProtocol",
-                    "ResetHandlingProtocol",
-                    "DryProtocol",
-                    "HydrogenateProtocol",
-                    "RecrystallizeProtocol"
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "heater_1",
-            "name": "加热器",
-            "children": [],
-            "parent": "OrganicSynthesisStation",
-            "type": "device",
-            "class": "virtual_heatchill",
-            "position": {
-                "x": 450,
-                "y": 450,
-                "z": 0
-            },
-            "config": {
-                "max_temp": 200.0,
-                "min_temp": -20.0
-            },
-            "data": {
-                "status": "Idle",
-                "current_temp": 25.0
-            }
-        }
-    ],
-    "links": []
-}

test/experiments/test_moveit.json

@@ -1,48 +1,32 @@
 {
     "nodes": [
 
-
         {
-            "id": "arm_slider",
-            "name": "arm_slider",
-            "children": [],
+            "id": "benyao",
+            "name": "benyao",
+            "children": [
+            ],
             "parent": null,
             "type": "device",
             "class": "moveit.arm_slider",
             "position": {
-                "x": -500,
-                "y": 1000,
-                "z": -100
+                "x": 0,
+                "y": 0,
+                "z": 0
             },
             "config": {
                 "moveit_type": "arm_slider",
                 "joint_poses": {
                     "arm": {
-                        "hotel_1": [
-                            1.05,
-                            0.568,
-                            -1.0821,
-                            0.0,
-                            1.0821
-                        ],
-                        "home": [
-                            0.865,
-                            0.09,
-                            0.8727,
-                            0.0,
-                            -0.8727
-                        ]
+                        "home": [0.0, 0.2, 0.0, 0.0, 0.0],
+                        "pick": [1.2, 0.0, 0.0, 0.0, 0.0]
                     }
                 },
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": -1.5708,
-                    "type": "Rotation"
-                },
-                "device_config": {}
+                "device_config": {
+                }
             },
-            "data": {}
+            "data": {
+            }
         }
     ],
     "links": [

unilabos-linux-64.yaml

@@ -1,6 +1,5 @@
 name: unilab
 channels:
-  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -62,8 +61,7 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
+#  - ros-humble-unilabos-msgs
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
-      - git+https://github.com/Xuwznln/pylabrobot
+      - opentrons_shared_data

unilabos-osx-64.yaml

@@ -1,6 +1,5 @@
 name: unilab
 channels:
-  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -61,8 +60,7 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
+#  - ros-humble-unilabos-msgs
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
-      - git+https://github.com/Xuwznln/pylabrobot
+      - opentrons_shared_data

unilabos-osx-arm64.yaml

@@ -1,6 +1,5 @@
 name: unilab
 channels:
-  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -64,8 +63,7 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
+#  - ros-humble-unilabos-msgs
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
-      - git+https://github.com/Xuwznln/pylabrobot
+      - opentrons_shared_data

unilabos-win64.yaml

@@ -1,6 +1,5 @@
 name: unilab
 channels:
-  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -62,13 +61,12 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
+  # ros-humble-unilabos-msgs
   # driver
   #- crcmod
   - pip:
       - paho-mqtt
       - opentrons_shared_data
-      - git+https://github.com/Xuwznln/pylabrobot
       # driver
       #- ur-rtde  # set PYTHONUTF8=1
       #- pyautogui

unilabos/app/main.py

@@ -1,7 +1,7 @@
 import argparse
 import asyncio
+import json
 import os
-import shutil
 import signal
 import sys
 import threading
@@ -10,7 +10,7 @@ from copy import deepcopy
 
 import yaml
 
-from unilabos.resources.graphio import modify_to_backend_format
+from unilabos.resources.graphio import tree_to_list, modify_to_backend_format
 
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -18,42 +18,31 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
-from unilabos.config.config import load_config, BasicConfig
+from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 
 
-def load_config_from_file(config_path, override_labid=None):
+def load_config_from_file(config_path):
     if config_path is None:
-        config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
+        config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
     if config_path:
         if not os.path.exists(config_path):
             print_status(f"配置文件 {config_path} 不存在", "error")
         elif not config_path.endswith(".py"):
             print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
         else:
-            load_config(config_path, override_labid)
+            load_config(config_path)
     else:
         print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning")
-        load_config(config_path, override_labid)
-
-
-def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
-    # easier for user input, easier for dev search code
-    option_strings = list(args._option_string_actions.keys())
-    for i, arg in enumerate(sys.argv):
-        for option_string in option_strings:
-            if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
-                sys.argv[i] = new_arg
-                break
+        load_config(config_path)
 
 
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
     parser.add_argument("-g", "--graph", help="Physical setup graph.")
-    # parser.add_argument("-d", "--devices", help="Devices config file.")
-    # parser.add_argument("-r", "--resources", help="Resources config file.")
+    parser.add_argument("-d", "--devices", help="Devices config file.")
+    parser.add_argument("-r", "--resources", help="Resources config file.")
     parser.add_argument("-c", "--controllers", default=None, help="Controllers config file.")
     parser.add_argument(
         "--registry_path",
@@ -62,12 +51,6 @@ def parse_args():
         action="append",
         help="Path to the registry",
     )
-    parser.add_argument(
-        "--working_dir",
-        type=str,
-        default=None,
-        help="Path to the working directory",
-    )
     parser.add_argument(
         "--backend",
         choices=["ros", "simple", "automancer"],
@@ -109,12 +92,12 @@ def parse_args():
     )
     parser.add_argument(
         "--disable_browser",
-        action="store_true",
+        action='store_true',
         help="是否在启动时关闭信息页",
     )
     parser.add_argument(
         "--2d_vis",
-        action="store_true",
+        action='store_true',
         help="是否在pylabrobot实例启动时，同时启动可视化",
     )
     parser.add_argument(
@@ -123,78 +106,20 @@ def parse_args():
         default="disable",
         help="选择可视化工具: rviz, web",
     )
-    parser.add_argument(
-        "--labid",
-        type=str,
-        default="",
-        help="实验室唯一ID，也可通过环境变量 UNILABOS_MQCONFIG_LABID 设置或传入--config设置",
-    )
-    parser.add_argument(
-        "--skip_env_check",
-        action="store_true",
-        help="跳过启动时的环境依赖检查",
-    )
-    return parser
+    return parser.parse_args()
 
 
 def main():
     """主函数"""
     # 解析命令行参数
     args = parse_args()
-    convert_argv_dashes_to_underscores(args)
-    args_dict = vars(args.parse_args())
-
-    # 环境检查 - 检查并自动安装必需的包 (可选)
-    if not args_dict.get("skip_env_check", False):
-        from unilabos.utils.environment_check import check_environment
-
-        print_status("正在进行环境依赖检查...", "info")
-        if not check_environment(auto_install=True):
-            print_status("环境检查失败，程序退出", "error")
-            os._exit(1)
-    else:
-        print_status("跳过环境依赖检查", "warning")
+    args_dict = vars(args)
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-    if os.getcwd().endswith("unilabos_data"):
-        working_dir = os.path.abspath(os.getcwd())
-    else:
-        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-    if args_dict.get("working_dir"):
-        working_dir = args_dict.get("working_dir")
-        if config_path and not os.path.exists(config_path):
-            config_path = os.path.join(working_dir, "local_config.py")
-            if not os.path.exists(config_path):
-                print_status(
-                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
-                    "error",
-                )
-                os._exit(1)
-    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
-        config_path = os.path.join(working_dir, "local_config.py")
-    elif not config_path and (
-        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
-    ):
-        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-        if input() != "n":
-            os.makedirs(working_dir, exist_ok=True)
-            config_path = os.path.join(working_dir, "local_config.py")
-            shutil.copy(
-                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
-            )
-            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-            print_status(f"请在文件夹中配置lab_id，放入下载的CA.crt、lab.crt、lab.key重新启动本程序", "info")
-            os._exit(1)
-        else:
-            os._exit(1)
-    # 加载配置文件
-    print_status(f"当前工作目录为 {working_dir}", "info")
-    load_config_from_file(config_path, args_dict["labid"])
+    load_config_from_file(config_path)
 
     # 设置BasicConfig参数
-    BasicConfig.working_dir = working_dir
     BasicConfig.is_host_mode = not args_dict.get("without_host", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
@@ -221,31 +146,30 @@ def main():
 
     # 注册表
     build_registry(args_dict["registry_path"])
-    if args_dict["graph"] is None:
-        request_startup_json = http_client.request_startup_json()
-        if not request_startup_json:
-            print_status(
-                "未指定设备加载文件路径，尝试从HTTP获取失败，请检查网络或者使用-g参数指定设备加载文件路径", "error"
-            )
-            os._exit(1)
+    resource_edge_info = []
+    devices_and_resources = None
+    if args_dict["graph"] is not None:
+        import unilabos.resources.graphio as graph_res
+        if args_dict["graph"].endswith(".json"):
+            graph, data = read_node_link_json(args_dict["graph"])
         else:
-            print_status("联网获取设备加载文件成功", "info")
-        graph, data = read_node_link_json(request_startup_json)
+            graph, data = read_graphml(args_dict["graph"])
+        graph_res.physical_setup_graph = graph
+        resource_edge_info = modify_to_backend_format(data["links"])
+        devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
+        # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
+        args_dict["resources_config"] = list(devices_and_resources.values())
+        args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
+        args_dict["graph"] = graph_res.physical_setup_graph
     else:
-        file_path = args_dict["graph"]
-        if file_path.endswith(".json"):
-            graph, data = read_node_link_json(file_path)
-        else:
-            graph, data = read_graphml(file_path)
-    import unilabos.resources.graphio as graph_res
-
-    graph_res.physical_setup_graph = graph
-    resource_edge_info = modify_to_backend_format(data["links"])
-    devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
-    # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
-    args_dict["resources_config"] = list(devices_and_resources.values())
-    args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
-    args_dict["graph"] = graph_res.physical_setup_graph
+        if args_dict["devices"] is None or args_dict["resources"] is None:
+            print_status("Either graph or devices and resources must be provided.", "error")
+            sys.exit(1)
+        args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
+        # args_dict["resources_config"] = initialize_resources(
+        #     list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
+        # )
+        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"]:
@@ -277,22 +201,13 @@ def main():
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"
         if devices_and_resources is not None:
-            from unilabos.device_mesh.resource_visalization import (
-                ResourceVisualization,
-            )  # 此处开启后，logger会变更为INFO，有需要请调整
-
-            resource_visualization = ResourceVisualization(
-                devices_and_resources, args_dict["resources_config"], enable_rviz=enable_rviz
-            )
+            from unilabos.device_mesh.resource_visalization import ResourceVisualization  # 此处开启后，logger会变更为INFO，有需要请调整
+            resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)
-            server_thread = threading.Thread(
-                target=start_server,
-                kwargs=dict(
-                    open_browser=not args_dict["disable_browser"],
-                    port=args_dict["port"],
-                ),
-            )
+            server_thread = threading.Thread(target=start_server, kwargs=dict(
+                open_browser=not args_dict["disable_browser"], port=args_dict["port"],
+            ))
             server_thread.start()
             asyncio.set_event_loop(asyncio.new_event_loop())
             resource_visualization.start()
@@ -300,16 +215,10 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            start_server(
-                open_browser=not args_dict["disable_browser"],
-                port=args_dict["port"],
-            )
+            start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
     else:
         start_backend(**args_dict)
-        start_server(
-            open_browser=not args_dict["disable_browser"],
-            port=args_dict["port"],
-        )
+        start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
 
 
 if __name__ == "__main__":

unilabos/app/mq.py

@@ -166,7 +166,7 @@ class MQTTClient:
         status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()}
         address = f"labs/{MQConfig.lab_id}/devices/"
         self.client.publish(address, json.dumps(status), qos=2)
-        logger.info(f"Device {device_id} 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, return_info: Optional[str] = None):
         if self.mqtt_disable:

unilabos/app/register.py

@@ -18,27 +18,13 @@ def register_devices_and_resources(mqtt_client, lab_registry):
         mqtt_client.publish_registry(device_info["id"], device_info, False)
         logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
 
-    # # 注册资源信息
-    # for resource_info in lab_registry.obtain_registry_resource_info():
-    #     mqtt_client.publish_registry(resource_info["id"], resource_info, False)
-    #     logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
-
-    # 注册资源信息 - 使用HTTP方式
-    from unilabos.app.web.client import http_client
-
-    resources_to_register = {}
+    # 注册资源信息
     for resource_info in lab_registry.obtain_registry_resource_info():
-        resources_to_register[resource_info["id"]] = resource_info
-        logger.debug(f"[UniLab Register] 准备注册资源: {resource_info['id']}")
+        mqtt_client.publish_registry(resource_info["id"], resource_info, False)
+        logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
+
+    time.sleep(10)
 
-    if resources_to_register:
-        start_time = time.time()
-        response = http_client.resource_registry(resources_to_register)
-        cost_time = time.time() - start_time
-        if response.status_code in [200, 201]:
-            logger.info(f"[UniLab Register] 成功通过HTTP注册 {len(resources_to_register)} 个资源 {cost_time}ms")
-        else:
-            logger.error(f"[UniLab Register] HTTP注册资源失败: {response.status_code}, {response.text} {cost_time}ms")
     logger.info("[UniLab Register] 设备和资源注册完成.")
 
 
@@ -67,9 +53,11 @@ def main():
         help="是否补全注册表",
     )
     args = parser.parse_args()
-    load_config_from_file(args.config)
+
     # 构建注册表
     build_registry(args.registry, args.complete_registry)
+    load_config_from_file(args.config)
+
     from unilabos.app.mq import mqtt_client
 
     # 连接mqtt
@@ -82,4 +70,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()

unilabos/app/web/client.py

@@ -3,13 +3,12 @@ HTTP客户端模块
 
 提供与远程服务器通信的客户端功能，只有host需要用
 """
-import json
-import os
+
 from typing import List, Dict, Any, Optional
 
 import requests
 from unilabos.utils.log import info
-from unilabos.config.config import MQConfig, HTTPConfig, BasicConfig
+from unilabos.config.config import MQConfig, HTTPConfig
 from unilabos.utils import logger
 
 
@@ -41,9 +40,8 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        database_param = 1 if database_process_later else 0
         response = requests.post(
-            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={database_param}",
+            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
             json=resources,
             headers={"Authorization": f"lab {self.auth}"},
             timeout=100,
@@ -151,56 +149,6 @@ class HTTPClient:
             )
         return response
 
-    def resource_registry(self, registry_data: Dict[str, Any]) -> requests.Response:
-        """
-        注册资源到服务器
-
-        Args:
-            registry_data: 注册表数据，格式为 {resource_id: resource_info}
-
-        Returns:
-            Response: API响应对象
-        """
-        response = requests.post(
-            f"{self.remote_addr}/lab/registry/",
-            json=registry_data,
-            headers={"Authorization": f"lab {self.auth}"},
-            timeout=30,
-        )
-        if response.status_code not in [200, 201]:
-            logger.error(f"注册资源失败: {response.status_code}, {response.text}")
-        return response
-
-    def request_startup_json(self) -> Optional[Dict[str, Any]]:
-        """
-        请求启动配置
-
-        Args:
-            startup_json: 启动配置JSON数据
-
-        Returns:
-            Response: API响应对象
-        """
-        response = requests.get(
-            f"{self.remote_addr}/lab/resource/graph_info/",
-            headers={"Authorization": f"lab {self.auth}"},
-            timeout=(3, 30),
-        )
-        if response.status_code != 200:
-            logger.error(f"请求启动配置失败: {response.status_code}, {response.text}")
-        else:
-            try:
-                with open(os.path.join(BasicConfig.working_dir, "startup_config.json"), "w", encoding="utf-8") as f:
-                    f.write(response.text)
-                target_dict = json.loads(response.text)
-                if "data" in target_dict:
-                    target_dict = target_dict["data"]
-                return target_dict
-            except json.JSONDecodeError as e:
-                logger.error(f"解析启动配置JSON失败: {str(e.args)}\n响应内容: {response.text}")
-                logger.error(f"响应内容: {response.text}")
-        return None
-
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/compile/add_protocol.py

@@ -346,16 +346,7 @@ def generate_add_protocol(
     """
 
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id = vessel["id"]
     
     # 🔧 修改：更新容器的液体体积（假设有 liquid_volume 字段）
     if "data" in vessel and "liquid_volume" in vessel["data"]:

unilabos/compile/adjustph_protocol.py

@@ -237,10 +237,7 @@ def generate_adjust_ph_protocol(
     
     # 统一处理vessel参数
     if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
+        vessel_id = list(vessel.values())[0].get("id", "")
         vessel_data = vessel.get("data", {})
     else:
         vessel_id = str(vessel)

unilabos/compile/clean_vessel_protocol.py

@@ -181,16 +181,7 @@ def generate_clean_vessel_protocol(
         clean_protocol = generate_clean_vessel_protocol(G, {"id": "main_reactor"}, "water", 100.0, 60.0, 2)
     """
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id = vessel["id"]
     
     action_sequence = []
     

unilabos/compile/evacuateandrefill_protocol.py

@@ -288,16 +288,7 @@ def generate_evacuateandrefill_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id = vessel["id"]
     
     # 硬编码重复次数为 3
     repeats = 3

unilabos/compile/evaporate_protocol.py

@@ -201,16 +201,7 @@ def generate_evaporate_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id = vessel["id"]
     
     debug_print("🌟" * 20)
     debug_print("🌪️ 开始生成蒸发协议（支持单位和体积运算）✨")

unilabos/compile/filter_protocol.py

@@ -68,16 +68,7 @@ def generate_filter_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id = vessel["id"]
     
     debug_print("🌊" * 20)
     debug_print("🚀 开始生成过滤协议（支持体积运算）✨")

unilabos/compile/heatchill_protocol.py

@@ -217,16 +217,7 @@ def generate_heat_chill_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id = vessel["id"]
     
     debug_print("🌡️" * 20)
     debug_print("🚀 开始生成加热冷却协议（支持vessel字典）✨")

unilabos/compile/hydrogenate_protocol.py

@@ -170,16 +170,7 @@ def generate_hydrogenate_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id = vessel["id"]
     
     action_sequence = []
     

unilabos/compile/recrystallize_protocol.py

@@ -287,16 +287,7 @@ def generate_recrystallize_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id = vessel["id"]
     
     action_sequence = []
     

unilabos/compile/separate_protocol.py

@@ -418,16 +418,7 @@ def generate_separate_protocol(
             raise ValueError("必须提供vessel字典参数")
     
     # 🔧 核心修改：从字典中提取容器ID
-        # 统一处理vessel参数
-        if isinstance(vessel, dict):
-            if "id" not in vessel:
-                vessel_id = list(vessel.values())[0].get("id", "")
-            else:
-                vessel_id = vessel.get("id", "")
-            vessel_data = vessel.get("data", {})
-        else:
-            vessel_id = str(vessel)
-            vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id = vessel["id"]
     
     debug_print("🌀" * 20)
     debug_print("🚀 开始生成分离协议（支持vessel字典和体积运算）✨")

unilabos/config/config.py

@@ -9,14 +9,12 @@ from unilabos.utils import logger
 
 class BasicConfig:
     ENV = "pro"  # 'test'
-    working_dir = ""
     config_path = ""
     is_host_mode = True
     slave_no_host = False  # 是否跳过rclient.wait_for_service()
     upload_registry = False
     machine_name = "undefined"
     vis_2d_enable = False
-    enable_resource_load = True
 
 
 # MQTT配置
@@ -65,7 +63,7 @@ class ROSConfig:
     ]
 
 
-def _update_config_from_module(module, override_labid: str):
+def _update_config_from_module(module):
     for name, obj in globals().items():
         if isinstance(obj, type) and name.endswith("Config"):
             if hasattr(module, name) and isinstance(getattr(module, name), type):
@@ -76,9 +74,6 @@ def _update_config_from_module(module, override_labid: str):
     if len(OSSUploadConfig.authorization) == 0:
         OSSUploadConfig.authorization = f"lab {MQConfig.lab_id}"
     # 对 ca_file cert_file key_file 进行初始化
-    if override_labid:
-        MQConfig.lab_id = override_labid
-        logger.warning(f"[ENV] 当前实验室启动的ID被设置为：{override_labid}")
     if len(MQConfig.ca_content) == 0:
         # 需要先判断是否为相对路径
         if MQConfig.ca_file.startswith("."):
@@ -109,13 +104,13 @@ def _update_config_from_module(module, override_labid: str):
 
 
 def _update_config_from_env():
-    prefix = "UNILABOS_"
+    prefix = "UNILABOS."
     for env_key, env_value in os.environ.items():
         if not env_key.startswith(prefix):
             continue
         try:
             key_path = env_key[len(prefix):]  # Remove UNILAB_ prefix
-            class_field = key_path.upper().split("_", 1)
+            class_field = key_path.upper().split(".", 1)
             if len(class_field) != 2:
                 logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")
                 continue
@@ -160,15 +155,15 @@ def _update_config_from_env():
 
 
 
-def load_config(config_path=None, override_labid=None):
+def load_config(config_path=None):
     # 如果提供了配置文件路径，从该文件导入配置
     if config_path:
-        env_config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH")
-        config_path = env_config_path if env_config_path else config_path
+        _update_config_from_env()  # 允许config_path被env设定后读取
         BasicConfig.config_path = os.path.abspath(os.path.dirname(config_path))
         if not os.path.exists(config_path):
             logger.error(f"[ENV] 配置文件 {config_path} 不存在")
             exit(1)
+
         try:
             module_name = "lab_" + os.path.basename(config_path).replace(".py", "")
             spec = importlib.util.spec_from_file_location(module_name, config_path)
@@ -177,13 +172,12 @@ def load_config(config_path=None, override_labid=None):
                 return
             module = importlib.util.module_from_spec(spec)
             spec.loader.exec_module(module)  # type: ignore
-            _update_config_from_module(module, override_labid)
+            _update_config_from_module(module)
             logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
-            _update_config_from_env()
         except Exception as e:
             logger.error(f"[ENV] 加载配置文件 {config_path} 失败")
             traceback.print_exc()
             exit(1)
     else:
         config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
-        load_config(config_path, override_labid)
+        load_config(config_path)

unilabos/config/example_config.py

@@ -1,17 +0,0 @@
-# MQTT配置
-class MQConfig:
-    lab_id = ""
-    instance_id = ""
-    access_key = ""
-    secret_key = ""
-    group_id = ""
-    broker_url = ""
-    port = 1883
-
-    ca_file = "./CA.crt"
-    cert_file = "./lab.crt"
-    key_file = "./lab.key"
-
-# HTTP配置
-class HTTPConfig:
-    remote_addr = "https://uni-lab.bohrium.com/api/v1"

unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml

@@ -0,0 +1,9 @@
+# Default initial positions for full_dev's ros2_control fake system
+
+initial_positions:
+  arm_base_joint: 0
+  arm_link_1_joint: 0
+  arm_link_2_joint: 0
+  arm_link_3_joint: 0
+  gripper_base_joint: 0
+  gripper_right_joint: 0.03

unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml

@@ -0,0 +1,40 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  arm_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_1_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_2_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_3_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_right_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0

unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml

@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001

unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro

@@ -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>

unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro

@@ -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>

unilabos/device_mesh/devices/benyao_arm/config/move_group.json

@@ -0,0 +1,14 @@
+{
+    "arm":
+    {
+        "joint_names": [ 
+            "arm_base_joint",
+            "arm_link_1_joint",
+            "arm_link_2_joint",
+            "arm_link_3_joint",
+            "gripper_base_joint"
+            ],
+        "base_link_name": "device_link",
+        "end_effector_name": "gripper_base"
+    }
+}

unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml

@@ -0,0 +1,29 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - arm_controller
+    - gripper_controller
+
+  arm_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    action_ns: follow_joint_trajectory
+    default: true
+  gripper_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - gripper_right_joint
+    action_ns: follow_joint_trajectory
+    default: true

unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml

@@ -0,0 +1,2 @@
+planner_configs:
+  - ompl_interface/OMPLPlanner

unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml

@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57

unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml

@@ -0,0 +1,39 @@
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+arm_controller:
+  ros__parameters:
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+gripper_controller:
+  ros__parameters:
+    joints:
+      - gripper_right_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity

unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml

@@ -0,0 +1,44 @@
+joint_limits:
+
+  arm_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 1.5
+
+  arm_link_1_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.6
+
+  arm_link_2_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+  arm_link_3_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -195
+    upper: !degrees  195
+
+  gripper_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+
+  gripper_right_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03
+
+  gripper_left_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03

unilabos/device_mesh/devices/benyao_arm/macro_device.xacro

@@ -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>

unilabos/device_mesh/devices/elite_robot/config/cs612/default_kinematics.yaml

@@ -1,43 +0,0 @@
-kinematics:
-  shoulder:
-    x: 0
-    y: 0
-    z: 0.1930
-    roll: 0
-    pitch: 0
-    yaw: 0
-  upperarm:
-    x: 0
-    y: 0
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  forearm:
-    x: -0.6150
-    y: 0
-    z: 0
-    roll: 0
-    pitch: 0
-    yaw: 0
-  wrist_1:
-    x: -0.5710
-    y: 0
-    z: 0.1775
-    roll: 0
-    pitch: 0
-    yaw: 0
-  wrist_2:
-    x: 0
-    y: -0.1180
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  wrist_3:
-    x: 0
-    y: 0.1103
-    z: 0
-    roll: -1.570796326589793
-    pitch: 0
-    yaw: 0

unilabos/device_mesh/devices/elite_robot/config/cs612/joint_limits.yaml

@@ -1,61 +0,0 @@
-joint_limits:
-  shoulder_pan_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 330.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  120.0
-    min_position: !degrees -360.0
-  shoulder_lift_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 330.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  120.0
-    min_position: !degrees -360.0
-  elbow_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 150.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 56.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0
-  wrist_2_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 56.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0
-  wrist_3_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 56.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0

unilabos/device_mesh/devices/elite_robot/config/cs612/physical_parameters.yaml

@@ -1,99 +0,0 @@
-# Physical parameters
-
-dh_parameters:
-  d1: 0.1930
-  a2: -0.6150
-  a3: -0.5710
-  d4: 0.1775
-  d5: 0.1180
-  d6: 0.1103
-
-inertia_parameters:
-  base_mass: 0.94888  # base mass, base inertia, base cog might be incorrect
-  shoulder_mass: 6.83
-  upperarm_mass: 13.037
-  forearm_mass: 4.827
-  wrist_1_mass: 2.315
-  wrist_2_mass: 2.195
-  wrist_3_mass: 0.616
-
-  inertia:
-    base:
-      ixx: 0.0029607
-      ixy: -1.019E-06
-      ixz: 5.2685E-06
-      iyy: 0.0026222
-      iyz: -2.8951E-06
-      izz: 0.0039906
-    shoulder:
-      ixx: 0.039228
-      ixy: -2.8388E-05
-      ixz: 3.9289E-05
-      iyy: 0.025078
-      iyz: -0.00028825
-      izz: 0.037499
-    upperarm:
-      ixx: 0.3734
-      ixy: -5.985E-05
-      ixz: -0.5014
-      iyy: 2.0187
-      iyz: -0.00013287
-      izz: 1.681
-    forearm:
-      ixx: 0.030106
-      ixy: -1.25E-05
-      ixz: -0.076554
-      iyy: 0.76404
-      iyz: 1.326E-06
-      izz: 0.7421
-    wrist_1:
-      ixx: 0.0060891
-      ixy: 1.219E-06
-      ixz: -4.067E-06
-      iyy: 0.0049703
-      iyz: -1.2747E-05
-      izz: 0.0033067
-    wrist_2:
-      ixx: 0.004638045
-      ixy: 1.311E-06
-      ixz: 3.829E-06
-      iyy: 0.003507337
-      iyz: 1.4183E-05
-      izz: 0.003129668
-    wrist_3:
-      ixx: 0.0016942
-      ixy: 1.27E-07
-      ixz: 1.9782E-05
-      iyy: 0.0017123
-      iyz: 7.7E-06
-      izz: 0.0005701
-
-  center_of_mass:
-    base_cog:
-      x: 5.6715E-05
-      y: -0.00010524
-      z: 0.065979
-    shoulder_cog:
-      x: 9.3E-05
-      y: -0.02697
-      z: -0.02115
-    upperarm_cog:
-      x: -0.2304
-      y: -3.9E-05
-      z: 0.16068
-    forearm_cog:
-      x: -0.2998
-      y: 1.3E-05
-      z: 0.06176
-    wrist_1_cog:
-      x: 1.0E-05
-      y: -0.0148
-      z: -0.01682
-    wrist_2_cog:
-      x: -1.3E-05
-      y: 0.015559
-      z: -0.011803
-    wrist_3_cog:
-      x: -0.001704
-      y: -0.000705
-      z: -0.039231

unilabos/device_mesh/devices/elite_robot/config/cs612/visual_parameters.yaml

@@ -1,92 +0,0 @@
-mesh_files:
-  base:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/visual/base.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/collision/base.stl
-
-  shoulder:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/visual/shoulder.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/collision/shoulder.stl
-
-  upperarm:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/visual/upperarm.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/collision/upperarm.stl
-      mesh_files:
-
-  forearm:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/visual/forearm.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/collision/forearm.stl
-
-  wrist_1:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/visual/wrist1.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/collision/wrist1.stl
-
-  wrist_2:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/visual/wrist2.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/collision/wrist2.stl
-
-  wrist_3:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/visual/wrist3.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs612/collision/wrist3.stl

unilabos/device_mesh/devices/elite_robot/config/cs616/default_kinematics.yaml

@@ -1,43 +0,0 @@
-kinematics:
-  shoulder:
-    x: 0
-    y: 0
-    z: 0.1930
-    roll: 0
-    pitch: 0
-    yaw: 0
-  upperarm:
-    x: 0
-    y: 0
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  forearm:
-    x: -0.5520
-    y: 0
-    z: 0
-    roll: 0
-    pitch: 0
-    yaw: 0
-  wrist_1:
-    x: -0.4300
-    y: 0
-    z: 0.1775
-    roll: 0
-    pitch: 0
-    yaw: 0
-  wrist_2:
-    x: 0
-    y: -0.1180
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  wrist_3:
-    x: 0
-    y: 0.1103
-    z: 0
-    roll: -1.570796326589793
-    pitch: 0
-    yaw: 0

unilabos/device_mesh/devices/elite_robot/config/cs616/joint_limits.yaml

@@ -1,61 +0,0 @@
-joint_limits:
-  shoulder_pan_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 330.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  120.0
-    min_position: !degrees -360.0
-  shoulder_lift_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 330.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  120.0
-    min_position: !degrees -360.0
-  elbow_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 150.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 56.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0
-  wrist_2_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 56.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0
-  wrist_3_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 56.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0

unilabos/device_mesh/devices/elite_robot/config/cs616/physical_parameters.yaml

@@ -1,99 +0,0 @@
-# Physical parameters
-
-dh_parameters:
-  d1: 0.1930
-  a2: -0.5520
-  a3: -0.4300
-  d4: 0.1775
-  d5: 0.1180
-  d6: 0.1103
-
-inertia_parameters:
-  base_mass: 0.94888  # base mass, base inertia, base cog might be incorrect
-  shoulder_mass: 6.83
-  upperarm_mass: 13.00
-  forearm_mass: 4.700
-  wrist_1_mass: 2.315
-  wrist_2_mass: 2.195
-  wrist_3_mass: 0.616
-
-  inertia:
-    base:
-      ixx: 0.0029607
-      ixy: -1.019E-06
-      ixz: 5.2685E-06
-      iyy: 0.0026222
-      iyz: -2.8951E-06
-      izz: 0.0039906
-    shoulder:
-      ixx: 0.039229834
-      ixy: -2.8388E-05
-      ixz: 3.9289E-05
-      iyy: 0.025077817
-      iyz: -0.000288247
-      izz: 0.03749924
-    upperarm:
-      ixx: 0.373432462
-      ixy: -5.5512E-05
-      ixz: -0.451785393
-      iyy: 1.696418762
-      iyz: -0.000133438
-      izz: 1.358657204
-    forearm:
-      ixx: 0.030213183
-      ixy: -8.368E-06
-      ixz: -0.056600087
-      iyy: 0.434775735
-      iyz: 1.585E-06
-      izz: 0.412836422
-    wrist_1:
-      ixx: 0.006091086
-      ixy: 1.256E-06
-      ixz: -4.067E-06
-      iyy: 0.004972529
-      iyz: -1.2709E-05
-      izz: 0.003307235
-    wrist_2:
-      ixx: 0.004639166
-      ixy: 1.311E-06
-      ixz: 3.829E-06
-      iyy: 0.003508643
-      iyz: 1.4183E-05
-      izz: 0.003130199
-    wrist_3:
-      ixx: 0.001695059
-      ixy: 1.27E-07
-      ixz: 1.9782E-05
-      iyy: 0.001713327
-      iyz: 7.7E-06
-      izz: 0.000570629
-
-  center_of_mass:
-    base_cog:
-      x: 5.6715E-05
-      y: -0.00010524
-      z: 0.065979
-    shoulder_cog:
-      x: 9.3E-05
-      y: -0.02697
-      z: -0.02115
-    upperarm_cog:
-      x: -0.2069
-      y: -4.4E-05
-      z: 0.16068
-    forearm_cog:
-      x: -0.2303
-      y: 1.5E-05
-      z: 0.06220
-    wrist_1_cog:
-      x: 1.0E-05
-      y: -0.0148
-      z: -0.01682
-    wrist_2_cog:
-      x: -1.3E-05
-      y: 0.015559
-      z: -0.011803
-    wrist_3_cog:
-      x: -0.001704
-      y: -0.000705
-      z: -0.039231

unilabos/device_mesh/devices/elite_robot/config/cs616/visual_parameters.yaml

@@ -1,92 +0,0 @@
-mesh_files:
-  base:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/visual/base.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/collision/base.stl
-
-  shoulder:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/visual/shoulder.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/collision/shoulder.stl
-
-  upperarm:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/visual/upperarm.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/collision/upperarm.stl
-      mesh_files:
-
-  forearm:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/visual/forearm.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/collision/forearm.stl
-
-  wrist_1:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/visual/wrist1.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/collision/wrist1.stl
-
-  wrist_2:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/visual/wrist2.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/collision/wrist2.stl
-
-  wrist_3:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/visual/wrist3.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs616/collision/wrist3.stl

unilabos/device_mesh/devices/elite_robot/config/cs620/default_kinematics.yaml

@@ -1,43 +0,0 @@
-kinematics:
-  shoulder:
-    x: 0
-    y: 0
-    z: 0.2350
-    roll: 0
-    pitch: 0
-    yaw: 0
-  upperarm:
-    x: 0
-    y: 0
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  forearm:
-    x: -0.9000
-    y: 0
-    z: 0
-    roll: 0
-    pitch: 0
-    yaw: 0
-  wrist_1:
-    x: -0.7720
-    y: 0
-    z: 0.1725
-    roll: 0
-    pitch: 0
-    yaw: 0
-  wrist_2:
-    x: 0
-    y: -0.1280
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  wrist_3:
-    x: 0
-    y: 0.1250
-    z: 0
-    roll: -1.570796326589793
-    pitch: 0
-    yaw: 0

unilabos/device_mesh/devices/elite_robot/config/cs620/joint_limits.yaml

@@ -1,61 +0,0 @@
-joint_limits:
-  shoulder_pan_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 730.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  120.0
-    min_position: !degrees -360.0
-  shoulder_lift_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 730.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  120.0
-    min_position: !degrees -360.0
-  elbow_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 430.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  150.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 100.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  210.0
-    min_position: !degrees -360.0
-  wrist_2_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 100.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  210.0
-    min_position: !degrees -360.0
-  wrist_3_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 100.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  210.0
-    min_position: !degrees -360.0

unilabos/device_mesh/devices/elite_robot/config/cs620/physical_parameters.yaml

@@ -1,99 +0,0 @@
-# Physical parameters
-
-dh_parameters:
-  d1: 0.2350
-  a2: -0.9000
-  a3: -0.7720
-  d4: 0.1725
-  d5: 0.1280
-  d6: 0.1250
-
-inertia_parameters:
-  base_mass: 1.5056  # base mass, base inertia, base cog might be incorrect
-  shoulder_mass: 17.04
-  upperarm_mass: 26.927
-  forearm_mass: 8.386
-  wrist_1_mass: 3.095
-  wrist_2_mass: 3.095
-  wrist_3_mass: 0.879
-
-  inertia:
-    base:
-      ixx: 0.0067829
-      ixy: 2.6762E-07
-      ixz: -2.569E-06
-      iyy: 0.0068523
-      iyz: 9.4263E-05
-      izz: 0.010044
-    shoulder:
-      ixx: 0.130294671
-      ixy: -8.271E-05
-      ixz: 0.000106701
-      iyy: 0.085215288
-      iyz: -0.000663345
-      izz: 0.113859158
-    upperarm:
-      ixx: 1.204318595
-      ixy: -0.000466936
-      ixz: -1.78878432
-      iyy: 8.073725654
-      iyz: -0.000305158
-      izz: 6.980457042
-    forearm:
-      ixx: 0.070042956
-      ixy: 9.0183E-05
-      ixz: -0.165661846
-      iyy: 2.160436707
-      iyz: 1.3854E-05
-      izz: 2.109199584
-    wrist_1:
-      ixx: 0.007958413
-      ixy: -3.024E-06
-      ixz: -5.734E-06
-      iyy: 0.006686348
-      iyz: -1.766E-05
-      izz: 0.004840671
-    wrist_2:
-      ixx: 0.007958413
-      ixy: -3.024E-06
-      ixz: 5.734E-06
-      iyy: 0.006686348
-      iyz: 1.766E-05
-      izz: 0.004840671
-    wrist_3:
-      ixx: 0.004065851
-      ixy: 1.5185E-05
-      ixz: -1.1453E-05
-      iyy: 0.004060372
-      iyz: 4.2152E-05
-      izz: 0.001170392
-
-  center_of_mass:
-    base_cog:
-      x: -2.4009E-05
-      y: 0.0011775
-      z: 0.076293
-    shoulder_cog:
-      x: 9.9E-05
-      y: -0.026311
-      z: -0.026723
-    upperarm_cog:
-      x: -0.323686
-      y: -3.9E-05
-      z: 0.200968
-    forearm_cog:
-      x: -0.376841
-      y: 1.5E-05
-      z: 0.070311
-    wrist_1_cog:
-      x: -3.7E-05
-      y: -0.01051
-      z: -0.014865
-    wrist_2_cog:
-      x: 3.7E-05
-      y: 0.01051
-      z: -0.014865
-    wrist_3_cog:
-      x: 0.000242
-      y: -0.001192
-      z: -0.050422

unilabos/device_mesh/devices/elite_robot/config/cs620/visual_parameters.yaml

@@ -1,92 +0,0 @@
-mesh_files:
-  base:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/visual/base.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/collision/base.stl
-
-  shoulder:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/visual/shoulder.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/collision/shoulder.stl
-
-  upperarm:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/visual/upperarm.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/collision/upperarm.stl
-      mesh_files:
-
-  forearm:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/visual/forearm.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/collision/forearm.stl
-
-  wrist_1:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/visual/wrist1.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/collision/wrist1.stl
-
-  wrist_2:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/visual/wrist2.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/collision/wrist2.stl
-
-  wrist_3:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/visual/wrist3.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs620/collision/wrist3.stl

unilabos/device_mesh/devices/elite_robot/config/cs625/default_kinematics.yaml

@@ -1,43 +0,0 @@
-kinematics:
-  shoulder:
-    x: 0
-    y: 0
-    z: 0.2350
-    roll: 0
-    pitch: 0
-    yaw: 0
-  upperarm:
-    x: 0
-    y: 0
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  forearm:
-    x: -0.7500
-    y: 0
-    z: 0
-    roll: 0
-    pitch: 0
-    yaw: 0
-  wrist_1:
-    x: -0.6220
-    y: 0
-    z: 0.1725
-    roll: 0
-    pitch: 0
-    yaw: 0
-  wrist_2:
-    x: 0
-    y: -0.1280
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  wrist_3:
-    x: 0
-    y: 0.1250
-    z: 0
-    roll: -1.570796326589793
-    pitch: 0
-    yaw: 0

unilabos/device_mesh/devices/elite_robot/config/cs625/joint_limits.yaml

@@ -1,61 +0,0 @@
-joint_limits:
-  shoulder_pan_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 730.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  120.0
-    min_position: !degrees -360.0
-  shoulder_lift_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 730.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  120.0
-    min_position: !degrees -360.0
-  elbow_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 430.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  150.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 100.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  210.0
-    min_position: !degrees -360.0
-  wrist_2_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 100.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  210.0
-    min_position: !degrees -360.0
-  wrist_3_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 100.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  210.0
-    min_position: !degrees -360.0

unilabos/device_mesh/devices/elite_robot/config/cs625/physical_parameters.yaml

@@ -1,99 +0,0 @@
-# Physical parameters
-
-dh_parameters:
-  d1: 0.2350
-  a2: -0.7500
-  a3: -0.6220
-  d4: 0.1725
-  d5: 0.1280
-  d6: 0.1250
-
-inertia_parameters:
-  base_mass: 1.50561968754018  # base mass, base inertia, base cog might be incorrect
-  shoulder_mass: 17.04
-  upperarm_mass: 26.543
-  forearm_mass: 7.816
-  wrist_1_mass: 3.095
-  wrist_2_mass: 3.095
-  wrist_3_mass: 0.879
-
-  inertia:
-    base:
-      ixx: 0.00678289120631133
-      ixy: 2.67618063769984E-07
-      ixz: -2.56895564177072E-06
-      iyy: 0.00685230321535615
-      iyz: 9.42628790478668E-05
-      izz: 0.0100437671447022
-    shoulder:
-      ixx: 0.13029
-      ixy: -8.271E-05
-      ixz: 0.0001067
-      iyy: 0.085215
-      iyz: -0.00066335
-      izz: 0.11386
-    upperarm:
-      ixx: 1.197
-      ixy: -0.00083272
-      ixz: -1.5396
-      iyy: 6.1117
-      iyz: -0.00015496
-      izz: 5.022
-    forearm:
-      ixx: 0.067797
-      ixy: 4.4997E-05
-      ixz: -0.12636
-      iyy: 1.3409
-      iyz: 1.45E-05
-      izz: 1.2908
-    wrist_1:
-      ixx: 0.0079584
-      ixy: -3.024E-06
-      ixz: 5.734E-06
-      iyy: 0.0066863
-      iyz: 1.766E-05
-      izz: 0.0048407
-    wrist_2:
-      ixx: 0.007958413
-      ixy: -3.024E-06
-      ixz: 5.734E-06
-      iyy: 0.006686348
-      iyz: 1.766E-05
-      izz: 0.004840671
-    wrist_3:
-      ixx: 0.004065851
-      ixy: 1.5185E-05
-      ixz: -1.1453E-05
-      iyy: 0.004060372
-      iyz: 4.2152E-05
-      izz: 0.001170392
-
-  center_of_mass:
-    base_cog:
-      x: -2.4008693014781E-05
-      y: 0.00117748953656619
-      z: 0.0762927770474629
-    shoulder_cog:
-      x: 9.9E-05
-      y: -0.026311
-      z: -0.026723
-    upperarm_cog:
-      x: -0.27762
-      y: -1.7E-05
-      z: 0.20184
-    forearm_cog:
-      x: -0.30259
-      y: 2.1E-05
-      z: 0.07237
-    wrist_1_cog:
-      x: -3.7E-05
-      y: -0.01051
-      z: -0.014865
-    wrist_2_cog:
-      x: 3.7E-05
-      y: 0.01051
-      z: -0.014865
-    wrist_3_cog:
-      x: 0.000242
-      y: -0.001192
-      z: -0.050422

unilabos/device_mesh/devices/elite_robot/config/cs625/visual_parameters.yaml

@@ -1,92 +0,0 @@
-mesh_files:
-  base:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/visual/base.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/collision/base.stl
-
-  shoulder:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/visual/shoulder.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/collision/shoulder.stl
-
-  upperarm:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/visual/upperarm.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/collision/upperarm.stl
-      mesh_files:
-
-  forearm:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/visual/forearm.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/collision/forearm.stl
-
-  wrist_1:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/visual/wrist1.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/collision/wrist1.stl
-
-  wrist_2:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/visual/wrist2.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/collision/wrist2.stl
-
-  wrist_3:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/visual/wrist3.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs625/collision/wrist3.stl

unilabos/device_mesh/devices/elite_robot/config/cs63/default_kinematics.yaml

@@ -1,43 +0,0 @@
-kinematics:
-  shoulder:
-    x: 0
-    y: 0
-    z: 0.1530
-    roll: 0
-    pitch: 0
-    yaw: 0
-  upperarm:
-    x: 0
-    y: 0
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  forearm:
-    x: -0.2700
-    y: 0
-    z: 0
-    roll: 0
-    pitch: 0
-    yaw: 0
-  wrist_1:
-    x: -0.2575
-    y: 0
-    z: 0.1445
-    roll: 0
-    pitch: 0
-    yaw: 0
-  wrist_2:
-    x: 0
-    y: -0.0965
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  wrist_3:
-    x: 0
-    y: 0.0920
-    z: 0
-    roll: -1.570796326589793
-    pitch: 0
-    yaw: 0

unilabos/device_mesh/devices/elite_robot/config/cs63/joint_limits.yaml

@@ -1,61 +0,0 @@
-joint_limits:
-  shoulder_pan_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 56.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0
-  shoulder_lift_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 56.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0
-  elbow_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 28.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 12.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  360.0
-    min_position: !degrees -360.0
-  wrist_2_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 12.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  360.0
-    min_position: !degrees -360.0
-  wrist_3_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 12.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  360.0
-    min_position: !degrees -360.0

unilabos/device_mesh/devices/elite_robot/config/cs63/physical_parameters.yaml

@@ -1,99 +0,0 @@
-# Physical parameters
-
-dh_parameters:
-  d1: 0.1530
-  a2: -0.2700
-  a3: -0.2575
-  d4: 0.1445
-  d5: 0.0965
-  d6: 0.0920
-
-inertia_parameters:
-  base_mass: 0.358193760044688  # base mass, base inertia, base cog might be incorrect
-  shoulder_mass: 3.095
-  upperarm_mass: 5.073
-  forearm_mass: 2.425
-  wrist_1_mass: 1.559
-  wrist_2_mass: 1.447
-  wrist_3_mass: 0.500
-
-  inertia:
-    base:
-      ixx: 0.000549739542527148
-      ixy: 8.03741216179988E-08
-      ixz: -9.14780809458034E-06
-      iyy: 0.000533024165382036
-      iyz: 3.46908903534662E-07
-      izz: 0.000655188839052244
-    shoulder:
-      ixx: 0.007958
-      ixy: 5.734E-06
-      ixz: 3.024E-06
-      iyy: 0.00484
-      iyz: -1.77E-05
-      izz: 0.006686
-    upperarm:
-      ixx: 0.074168
-      ixy: -7.5E-06
-      ixz: -0.065579
-      iyy: 0.21937
-      iyz: -2.19E-05
-      izz: 0.15104
-    forearm:
-      ixx: 0.005082
-      ixy: -2.7E-06
-      ixz: -0.0056236
-      iyy: 0.0924207
-      iyz: -1.726E-06
-      izz: 0.0897559
-    wrist_1:
-      ixx: 0.0045009
-      ixy: 1.96E-06
-      ixz: -2.646E-06
-      iyy: 0.0042164
-      iyz: -3.58E-07
-      izz: 0.0014538
-    wrist_2:
-      ixx: 0.0023787
-      ixy: 1.953E-06
-      ixz: 2.643E-06
-      iyy: 0.0020859
-      iyz: 5.584E-06
-      izz: 0.0013191
-    wrist_3:
-      ixx: 0.001431
-      ixy: -2.32E-07
-      ixz: 7.955E-06
-      iyy: 0.0014299
-      iyz: 1.266E-06
-      izz: 0.0003265
-
-  center_of_mass:
-    base_cog:
-      x: -0.000721181367009438
-      y: 1.78114684963572E-05
-      z: 0.0546249293265112
-    shoulder_cog:
-      x: 3.7E-05
-      y: -0.0149
-      z: -0.0105
-    upperarm_cog:
-      x: -0.11596
-      y: -2.6E-05
-      z: 0.1148
-    forearm_cog:
-      x: -0.1542
-      y: 1.4E-05
-      z: 0.0238
-    wrist_1_cog:
-      x: 1.3E-05
-      y: -0.00479
-      z: -0.02274
-    wrist_2_cog:
-      x: -1.4E-05
-      y: 0.0051
-      z: -0.0127
-    wrist_3_cog:
-      x: -0.000684
-      y: -0.000175
-      z: -0.0423

unilabos/device_mesh/devices/elite_robot/config/cs63/visual_parameters.yaml

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

unilabos/device_mesh/devices/elite_robot/config/cs66/default_kinematics.yaml

@@ -1,43 +0,0 @@
-kinematics:
-  shoulder:
-    x: 0
-    y: 0
-    z: 0.1625
-    roll: 0
-    pitch: 0
-    yaw: -0.16
-  upperarm:
-    x: 0
-    y: 0
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  forearm:
-    x: -0.4270
-    y: 0
-    z: 0
-    roll: 0
-    pitch: 0
-    yaw: 0
-  wrist_1:
-    x: -0.3905
-    y: 0
-    z: 0.1475
-    roll: 0
-    pitch: 0
-    yaw: 0.04
-  wrist_2:
-    x: 0
-    y: -0.0965
-    z: 0
-    roll: 1.570796326589793
-    pitch: 0
-    yaw: 0
-  wrist_3:
-    x: 0
-    y: 0.0920
-    z: 0
-    roll: -1.570796326589793
-    pitch: -0.59
-    yaw: 0

unilabos/device_mesh/devices/elite_robot/config/cs66/joint_limits.yaml

@@ -1,61 +0,0 @@
-joint_limits:
-  shoulder_pan_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 150.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0
-  shoulder_lift_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 150.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0
-  elbow_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 150.0
-    max_position: !degrees  180.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -180.0
-  wrist_1_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 28.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0
-  wrist_2_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 28.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0
-  wrist_3_joint:
-    # acceleration limits are not publicly available
-    has_acceleration_limits: false
-    has_effort_limits: true
-    has_position_limits: true
-    has_velocity_limits: true
-    max_effort: 28.0
-    max_position: !degrees  360.0
-    max_velocity: !degrees  180.0
-    min_position: !degrees -360.0

unilabos/device_mesh/devices/elite_robot/config/cs66/physical_parameters.yaml

@@ -1,99 +0,0 @@
-# Physical parameters
-
-dh_parameters:
-  d1: 0.1625
-  a2: -0.4270
-  a3: -0.3905
-  d4: 0.1475
-  d5: 0.0965
-  d6: 0.0920
-
-inertia_parameters:
-  base_mass: 0.57127  # base mass, base inertia, base cog might be incorrect
-  shoulder_mass: 4.521
-  upperarm_mass: 7.533
-  forearm_mass: 3.009
-  wrist_1_mass: 1.559
-  wrist_2_mass: 1.447
-  wrist_3_mass: 0.500
-
-  inertia:
-    base:
-      ixx: 0.0010759
-      ixy: 7.8337E-08
-      ixz: -1.3213E-05
-      iyy: 0.0010109
-      iyz: 4.5992E-07
-      izz: 0.001408
-    shoulder:
-      ixx: 0.014192
-      ixy: 1.7839E-05
-      ixz: -1.027E-06
-      iyy: 0.0091982
-      iyz: -4.6778E-05
-      izz: 0.012777
-    upperarm:
-      ixx: 0.13719
-      ixy: -7.5676E-05
-      ixz: -0.17551
-      iyy: 0.6614
-      iyz: 7.59E-06
-      izz: 0.53649
-    forearm:
-      ixx: 0.0087604
-      ixy: 1.7762E-05
-      ixz: -0.010765
-      iyy: 0.22281
-      iyz: -4.13E-07
-      izz: 0.2176
-    wrist_1:
-      ixx: 0.0045009
-      ixy: 1.961E-06
-      ixz: -2.646E-06
-      iyy: 0.0042164
-      iyz: -3.58E-07
-      izz: 0.0014539
-    wrist_2:
-      ixx: 0.0023787
-      ixy: 1.953E-06
-      ixz: 2.643E-06
-      iyy: 0.0020859
-      iyz: 5.584E-06
-      izz: 0.0013191
-    wrist_3:
-      ixx: 0.0014314
-      ixy: -2.32E-07
-      ixz: 7.955E-06
-      iyy: 0.0014299
-      iyz: 1.266E-06
-      izz: 0.0003265
-
-  center_of_mass:
-    base_cog:
-      x: -0.00060346
-      y: 1.4311E-05
-      z: 0.060221
-    shoulder_cog:
-      x: 2.2E-05
-      y: -0.016526
-      z: -0.014442
-    upperarm_cog:
-      x: -0.17828
-      y: 4.0E-06
-      z: 0.12803
-    forearm_cog:
-      x: -0.20416
-      y: -7.0E-06
-      z: 0.03064
-    wrist_1_cog:
-      x: 1.3E-05
-      y: -0.00479
-      z: -0.02274
-    wrist_2_cog:
-      x: -1.4E-05
-      y: 0.005107
-      z: -0.012702
-    wrist_3_cog:
-      x: -0.000684
-      y: -0.000175
-      z: -0.04234

unilabos/device_mesh/devices/elite_robot/config/cs66/visual_parameters.yaml

@@ -1,92 +0,0 @@
-mesh_files:
-  base:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/visual/base.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/collision/base.stl
-
-  shoulder:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/visual/shoulder.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/collision/shoulder.stl
-
-  upperarm:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/visual/upperarm.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/collision/upperarm.stl
-      mesh_files:
-
-  forearm:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/visual/forearm.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/collision/forearm.stl
-
-  wrist_1:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/visual/wrist1.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/collision/wrist1.stl
-
-  wrist_2:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/visual/wrist2.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/collision/wrist2.stl
-
-  wrist_3:
-    visual:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/visual/wrist3.dae
-      material:
-        name: "LightGrey"
-        color: "0.7 0.7 0.7 1.0"
-    collision:
-      mesh:
-        package: eli_cs_robot_description
-        path: meshes/cs66/collision/wrist3.stl

unilabos/device_mesh/devices/elite_robot/config/initial_positions.yaml

@@ -1,6 +0,0 @@
-shoulder_pan_joint: 0.0
-shoulder_lift_joint: -1.57
-elbow_joint: 0.0
-wrist_1_joint: -1.57
-wrist_2_joint: 1.57
-wrist_3_joint: 0.0

unilabos/device_mesh/devices/elite_robot/macro_device.xacro

@@ -1,159 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://wiki.ros.org/xacro" name="elite_robot">
-  <xacro:macro name="elite_robot" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' cs_type:='cs66' fake_dev:='true' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0" >
-   <!-- robot name parameter -->
-   <xacro:arg name="name" default="cs"/>
-   <!-- import main macro -->
-   <xacro:include filename="${mesh_path}/devices/elite_robot/urdf/cs_macro.xacro"/>
-
-   <!-- possible 'cs_type' values: cs63, cs66, cs612, cs616, cs620, cs625 -->
-   <!-- the default value should raise an error in case this was called without defining the type -->
-   <xacro:arg name="cs_type" default="${cs_type}"/>
-
-   <!-- parameters -->
-   <xacro:arg name="tf_prefix" default="${station_name}${device_name}" />
-   <xacro:arg name="joint_limit_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/joint_limits.yaml"/>
-   <xacro:arg name="kinematics_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/default_kinematics.yaml"/>
-   <xacro:arg name="physical_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/physical_parameters.yaml"/>
-   <xacro:arg name="visual_params" default="${mesh_path}/devices/elite_robot/config/$(arg cs_type)/visual_parameters.yaml"/>
-   <xacro:arg name="transmission_hw_interface" default=""/>
-   <xacro:arg name="safety_limits" default="false"/>
-   <xacro:arg name="safety_pos_margin" default="0.15"/>
-   <xacro:arg name="safety_k_position" default="20"/>
-   <!-- ros2_control related parameters -->
-   <xacro:arg name="headless_mode" default="false" />
-   <xacro:arg name="robot_ip" default="0.0.0.0" />
-   <xacro:arg name="script_filename" default=""/>
-   <xacro:arg name="output_recipe_filename" default=""/>
-   <xacro:arg name="input_recipe_filename" default=""/>
-   <xacro:arg name="local_ip" default="0.0.0.0"/>
-   <xacro:arg name="script_command_port" default="50004"/>
-   <xacro:arg name="reverse_port" default="50001"/>
-   <xacro:arg name="script_sender_port" default="50002"/>
-   <xacro:arg name="trajectory_port" default="50003"/>
-   <!--   tool communication related parameters-->
-   <xacro:arg name="use_tool_communication" default="false" />
-   <xacro:arg name="tool_voltage" default="0" />
-   <xacro:arg name="tool_parity" default="0" />
-   <xacro:arg name="tool_baud_rate" default="115200" />
-   <xacro:arg name="tool_stop_bits" default="1" />
-   <xacro:arg name="tool_tcp_port" default="54321" />
-
-     <!-- Simulation parameters -->
-   <xacro:arg name="use_fake_hardware" default="${fake_dev}" />
-   <xacro:arg name="fake_sensor_commands" default="${fake_dev}" />
-   <xacro:arg name="sim_gazebo" default="false" />
-   <xacro:arg name="sim_ignition" default="false" />
-   <xacro:arg name="simulation_controllers" default="" />
-
-   <!-- initial position for simulations (Fake Hardware, Gazebo, Ignition) -->
-   <xacro:arg name="initial_positions_file" default="${mesh_path}/devices/elite_robot/config/initial_positions.yaml"/>
-
-   <!-- convert to property to use substitution in function -->
-   <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
-
-
-
-  <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"/>
-
-   <!-- arm -->
-   <xacro:cs_robot
-     name="$(arg name)"
-     tf_prefix="$(arg tf_prefix)"
-     parent="${station_name}${device_name}device_link"
-     joint_limits_parameters_file="$(arg joint_limit_params)"
-     kinematics_parameters_file="$(arg kinematics_params)"
-     physical_parameters_file="$(arg physical_params)"
-     visual_parameters_file="$(arg visual_params)"
-     transmission_hw_interface="$(arg transmission_hw_interface)"
-     safety_limits="$(arg safety_limits)"
-     safety_pos_margin="$(arg safety_pos_margin)"
-     safety_k_position="$(arg safety_k_position)"
-     use_fake_hardware="$(arg use_fake_hardware)"
-     fake_sensor_commands="$(arg fake_sensor_commands)"
-     sim_gazebo="$(arg sim_gazebo)"
-     sim_ignition="$(arg sim_ignition)"
-     headless_mode="$(arg headless_mode)"
-     initial_positions="${xacro.load_yaml(initial_positions_file)}"
-     use_tool_communication="$(arg use_tool_communication)"
-     tool_voltage="$(arg tool_voltage)"
-     tool_parity="$(arg tool_parity)"
-     tool_baud_rate="$(arg tool_baud_rate)"
-     tool_stop_bits="$(arg tool_stop_bits)"
-     tool_tcp_port="$(arg tool_tcp_port)"
-     robot_ip="$(arg robot_ip)"
-     script_filename="$(arg script_filename)"
-     output_recipe_filename="$(arg output_recipe_filename)"
-     input_recipe_filename="$(arg input_recipe_filename)"
-     local_ip="$(arg local_ip)"
-     script_command_port="$(arg script_command_port)"
-     reverse_port="$(arg reverse_port)"
-     script_sender_port="$(arg script_sender_port)"
-     trajectory_port="$(arg trajectory_port)"
-     mesh_path="${mesh_path}"
-     >
-     <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
-   </xacro:cs_robot>
-
- <link name="${station_name}${device_name}gripper">
-    <inertial>
-      <origin
-        xyz="-2.76718112539598E-05 0.0255270141715087 0.0270559267296449"
-        rpy="0 0 0" />
-      <mass
-        value="0.2571510360664" />
-      <inertia
-        ixx="0.000164806957167171"
-        ixy="1.52519074989277E-08"
-        ixz="9.6332716899636E-08"
-        iyy="8.72759579414916E-05"
-        iyz="-5.40735277087457E-07"
-        izz="0.000196871100878503" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="file://${mesh_path}/devices/elite_robot/meshes/gripper.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint name="${station_name}${device_name}gripper_joint"
-    type="fixed">
-    <origin
-      xyz="0 0 -0.003"
-      rpy="0 0 -1.570796326589793" />
-    <parent
-      link="${station_name}${device_name}tool0" />
-    <child
-      link="${station_name}${device_name}gripper" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-
-  </xacro:macro>
-
-</robot>