mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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a599eb70e5
* 修改lh的json启动 * 修改lh的json启动 * 修改backend，做成sim的通用backend * 修改yaml的地址，3D模型适配网页生产环境 * 添加laiyu硬件连接 * 修改移液枪的状态判断方法， 修改移液枪的状态判断方法， 添加三轴的表定点与零点之间的转换 添加三轴真实移动的backend * 修改laiyu移液站 简化移动方法， 取消软件限制位置， 修改当值使用Z轴时也需要重新复位Z轴的问题 * 更新lh以及laiyu workshop 1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写 2,修改枪头判断标准，使用枪头自身判断而不是类的判断， 3,将归零参数用毫米计算，方便手动调整， 4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉 * 修改枪头动作 * 修改虚拟仿真方法 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@dp.tech>
238 lines
8.0 KiB
XML
238 lines
8.0 KiB
XML
<?xml version="1.0" ?>
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<robot name="dummy2" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find dummy2_description)/urdf/materials.xacro" />
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<xacro:include filename="$(find dummy2_description)/urdf/dummy2.trans" />
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<xacro:include filename="$(find dummy2_description)/urdf/dummy2.gazebo" />
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<link name="world" />
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<joint name="world_joint" type="fixed">
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<parent link="world" />
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<child link = "base_link" />
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</joint>
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<link name="base_link">
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<inertial>
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<origin xyz="0.00010022425916431473 -6.186605493937309e-05 0.05493640543484716" rpy="0 0 0"/>
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<mass value="1.2152141810431654"/>
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<inertia ixx="0.002105" iyy="0.002245" izz="0.002436" ixy="-0.0" iyz="-1.1e-05" ixz="0.0"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="J1_1">
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<inertial>
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<origin xyz="-0.00617659688932347 0.007029599744830012 0.012866826083045027" rpy="0 0 0"/>
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<mass value="0.1332774369186824"/>
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<inertia ixx="6e-05" iyy="5e-05" izz="8.8e-05" ixy="2.1e-05" iyz="-1.4e-05" ixz="8e-06"/>
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</inertial>
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<visual>
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<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="J2_1">
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<inertial>
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<origin xyz="0.019335709221765855 0.0019392793940843159 0.07795928103332703" rpy="0 0 0"/>
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<mass value="1.9268013917303417"/>
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<inertia ixx="0.006165" iyy="0.006538" izz="0.00118" ixy="-3e-06" iyz="4.7e-05" ixz="0.0007"/>
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</inertial>
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<visual>
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<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="J3_1">
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<inertial>
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<origin xyz="-0.010672101243726572 -0.02723871972304964 0.04876701375652198" rpy="0 0 0"/>
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<mass value="0.30531962155452225"/>
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<inertia ixx="0.00029" iyy="0.000238" izz="0.000191" ixy="-1.3e-05" iyz="4.1e-05" ixz="3e-05"/>
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</inertial>
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<visual>
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<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="J4_1">
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<inertial>
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<origin xyz="-0.005237398377441591 0.06002028183461833 0.0005891767740203724" rpy="0 0 0"/>
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<mass value="0.14051172121899885"/>
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<inertia ixx="0.000245" iyy="7.9e-05" izz="0.00027" ixy="1.6e-05" iyz="-2e-06" ixz="1e-06"/>
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</inertial>
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<visual>
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<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="J5_1">
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<inertial>
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<origin xyz="-0.014389813882964664 0.07305218143664277 -0.0009243405950149497" rpy="0 0 0"/>
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<mass value="0.7783315754227634"/>
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<inertia ixx="0.000879" iyy="0.000339" izz="0.000964" ixy="0.000146" iyz="1e-06" ixz="-5e-06"/>
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</inertial>
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<visual>
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<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="J6_1">
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<inertial>
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<origin xyz="3.967160300787087e-07 0.0004995066702210837 1.4402781733924286e-07" rpy="0 0 0"/>
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<mass value="0.0020561527568204153"/>
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<inertia ixx="0.0" iyy="0.0" izz="0.0" ixy="0.0" iyz="0.0" ixz="0.0"/>
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</inertial>
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<visual>
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<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<link name="camera">
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<inertial>
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<origin xyz="-0.0006059984983273845 0.0005864706438700462 0.04601775357664567" rpy="0 0 0"/>
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<mass value="0.21961029019655884"/>
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<inertia ixx="2.9e-05" iyy="0.000206" izz="0.000198" ixy="-0.0" iyz="2e-06" ixz="-0.0"/>
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</inertial>
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<visual>
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<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="silver"/>
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</visual>
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<collision>
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<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<joint name="Joint1" type="revolute">
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<origin xyz="0.0001 -0.000289 0.097579" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="J1_1"/>
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<axis xyz="-0.0 -0.0 1.0"/>
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<limit upper="3.054326" lower="-3.054326" effort="100" velocity="100"/>
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</joint>
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<joint name="Joint2" type="revolute">
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<origin xyz="-0.011639 0.034477 0.027201" rpy="0 0 0"/>
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<parent link="J1_1"/>
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<child link="J2_1"/>
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<axis xyz="1.0 0.0 -0.0"/>
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<limit upper="1.308997" lower="-2.007129" effort="100" velocity="100"/>
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</joint>
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<joint name="Joint3" type="revolute">
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<origin xyz="0.03535 0.0 0.158" rpy="0 0 0"/>
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<parent link="J2_1"/>
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<child link="J3_1"/>
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<axis xyz="-1.0 0.0 -0.0"/>
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<limit upper="1.570796" lower="-1.047198" effort="100" velocity="100"/>
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</joint>
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<joint name="Joint4" type="revolute">
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<origin xyz="-0.013162 0.0041 0.062466" rpy="0 0 0"/>
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<parent link="J3_1"/>
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<child link="J4_1"/>
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<axis xyz="0.0 1.0 -0.0"/>
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<limit upper="3.141593" lower="-3.141593" effort="100" velocity="100"/>
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</joint>
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<joint name="Joint5" type="revolute">
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<origin xyz="0.0213 0.110001 0.0" rpy="0 0 0"/>
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<parent link="J4_1"/>
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<child link="J5_1"/>
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<axis xyz="-1.0 -0.0 -0.0"/>
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<limit upper="2.094395" lower="-1.919862" effort="100" velocity="100"/>
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</joint>
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<joint name="Joint6" type="continuous">
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<origin xyz="-0.019822 0.1195 -0.001225" rpy="0 0 0"/>
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<parent link="J5_1"/>
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<child link="J6_1"/>
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<axis xyz="0.0 -1.0 0.0"/>
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</joint>
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<joint name="camera" type="fixed">
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<origin xyz="-0.019988 0.091197 0.024883" rpy="0 0 0"/>
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<parent link="J5_1"/>
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<child link="camera"/>
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<axis xyz="1.0 -0.0 0.0"/>
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<limit upper="0.0" lower="0.0" effort="100" velocity="100"/>
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</joint>
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</robot>
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