feat: 重构

.env.development

@@ -1,5 +1,5 @@
 # 页面标题
-VITE_APP_TITLE = 招商车研AI测评机器人模拟测试平台
+VITE_APP_TITLE = 招商车研机器人智能测试管理系统
 
 # 开发环境配置
 VITE_APP_ENV = 'development'
@@ -7,8 +7,8 @@ VITE_APP_ENV = 'development'
 # 招商车研物联网平台/开发环境
 VITE_APP_BASE_API = '/dev-api'
 
-VITE_API_URL = http://192.168.0.201:13080
+VITE_API_URL = http://192.168.0.222:14080
-VITE_WS_URL = ws://192.168.0.201:13080/ws
+VITE_WS_URL = ws://192.168.0.222:14080/ws
-
+VITE_PORT = 5174
-# explanation
 VITE_INSPECTION_TYPE = "inspection"
+VITE_MINIO_URL = "http://192.168.28.10:9000/cmvr-iot/"

.env.production

@@ -1,5 +1,5 @@
 # 页面标题
-VITE_APP_TITLE = 智能座舱测评AI机器人
+VITE_APP_TITLE = 招商车研机器人智能测试管理系统
 
 # 生产环境配置
 VITE_APP_ENV = 'production'
@@ -10,11 +10,8 @@ VITE_APP_BASE_API = '/prod-api'
 # 是否在打包时开启压缩，支持 gzip 和 brotli
 VITE_BUILD_COMPRESS = gzip
 
-#node-red  服务地址
 VITE_NODE_RED_URL = 'http://10.148.108.59:13080'
-
 VITE_API_URL = http://192.168.28.10:13080
 VITE_WS_URL = ws://192.168.0.201:13080/ws
-
-# explanation
 VITE_INSPECTION_TYPE = "inspection"
+VITE_MINIO_URL = "http://192.168.28.10:9000/cmvr-iot/"

.env.staging

@@ -1,13 +1,16 @@
 # 页面标题
-VITE_APP_TITLE = 招商车研物联网平台管理系统
+VITE_APP_TITLE = 招商车研机器人智能测试管理系统
 
 # 生产环境配置
 VITE_APP_ENV = 'staging'
 
-# 招商车研物联网平台管理系统/生产环境
+# 招商车研物联网平台/测试环境
 VITE_APP_BASE_API = '/stage-api'
 
 # 是否在打包时开启压缩，支持 gzip 和 brotli
 VITE_BUILD_COMPRESS = gzip
+
 VITE_API_URL = http://10.148.121.100:13080
 VITE_WS_URL = ws://192.168.0.201:13080/ws
+VITE_INSPECTION_TYPE = "inspection"
+VITE_MINIO_URL = "http://192.168.28.10:9000/cmvr-iot/"

.github/FUNDING.yml

@@ -0,0 +1 @@
+custom: http://doc.ruoyi.vip/ruoyi-vue/other/donate.html

.gitignore

@@ -18,9 +18,8 @@ selenium-debug.log
 *.njsproj
 *.sln
 *.local
-.history
 
 package-lock.json
 yarn.lock
-bin/
+
-pnpm-lock.yaml
+.history

README.md

@@ -1,35 +1,102 @@
+# CMVR IoT 管理控制台
 
-## 前端运行
+招商车研物联网平台 Vue 3 管理端。项目以 RuoYi-Vue3 3.9.2 为新版基础框架，完整迁移原 `cmvr-iot-ui` 的业务页面、API、机器人模型和运行配置，并连接 `RuoYi-Vue-master` 中的 Spring Boot 4 后端。
+
+旧前端仅作为迁移来源，不参与本项目构建。
+
+## 功能范围
+
+- 系统管理：用户、角色、部门、岗位、菜单、字典、参数、通知和文件。
+- 系统监控：在线用户、操作日志、登录日志、缓存、服务、Quartz 和 Druid。
+- 设备管理：设备注册、终端、机器人、相机、机械臂、灵巧手、机器人头部、麦克风、扬声器和电机。
+- 测试平台：测试项目、任务配置、任务编排、检测项、任务实例和执行流程。
+- 智能巡检：机器人、地图、点位、任务、执行实例、巡检结果、告警和驾驶舱。
+- 交互评价：语音交互、触控交互、评价指标、方案、项目和语料。
+- 智能座舱：车机界面、车辆配置、功能配置、流程编辑和执行评价。
+- 语料与媒体：语料管理、音频上传、图片预览、视频播放和 WebSocket 实时消息。
+- 开发工具：代码生成、表单构建和 Knife4j 接口文档。
+
+## 技术栈
+
+| 组件 | 版本 |
+| --- | --- |
+| Vue | 3.5.26 |
+| Vite | 6.4.1 |
+| Element Plus | 2.13.1 |
+| Pinia | 3.0.4 |
+| Vue Router | 4.6.4 |
+| 可视化 | ECharts、Vue Flow、Three.js、Monaco Editor、XGPlayer |
+
+## 环境要求
+
+- Node.js 20 LTS
+- pnpm 10
+- 后端 `RuoYi-Vue-master/cmvr-iot-admin`
+
+## 开发运行
+
+先启动后端，确认 `http://localhost:13080` 可以访问，然后执行：
 
 ```bash
-# 安装依赖
+pnpm install
-yarn --registry=https://registry.npmmirror.com
+pnpm dev
-
-# 启动服务
-yarn dev
-
-# 构建测试环境 yarn build:stage
-# 构建生产环境 yarn build:prod
-# 前端访问地址 http://localhost:80
 ```
 
-## 内置功能
+默认地址：
 
-1. 用户管理：用户是系统操作者，该功能主要完成系统用户配置。
+- 前端：`http://localhost:80`
-2. 部门管理：配置系统组织机构（公司、部门、小组），树结构展现支持数据权限。
+- 后端：`http://localhost:13080`
-3. 岗位管理：配置系统用户所属担任职务。
+- Knife4j：`http://localhost:13080/doc.html`
-4. 菜单管理：配置系统菜单，操作权限，按钮权限标识等。
+
-5. 角色管理：角色菜单权限分配、设置角色按机构进行数据范围权限划分。
+开发配置位于 `.env.development`：
-6. 字典管理：对系统中经常使用的一些较为固定的数据进行维护。
+
-7. 参数管理：对系统动态配置常用参数。
+```dotenv
-8. 通知公告：系统通知公告信息发布维护。
+VITE_APP_TITLE=招商车研物联网平台管理系统
-9. 操作日志：系统正常操作日志记录和查询；系统异常信息日志记录和查询。
+VITE_APP_BASE_API=/dev-api
-10. 登录日志：系统登录日志记录查询包含登录异常。
+VITE_API_URL=http://localhost:13080
-11. 在线用户：当前系统中活跃用户状态监控。
+VITE_WS_URL=ws://localhost:13080/ws
-12. 定时任务：在线（添加、修改、删除)任务调度包含执行结果日志。
+VITE_PORT=80
-13. 代码生成：前后端代码的生成（java、html、xml、sql）支持CRUD下载 。
+```
-14. 系统接口：根据业务代码自动生成相关的api接口文档。
+
-15. 服务监控：监视当前系统CPU、内存、磁盘、堆栈等相关信息。
+## 构建
-16. 缓存监控：对系统的缓存信息查询，命令统计等。
+
-17. 在线构建器：拖动表单元素生成相应的HTML代码。
+```bash
-18. 连接池监视：监视当前系统数据库连接池状态，可进行分析SQL找出系统性能瓶颈。
+pnpm build:dev
+pnpm build:stage
+pnpm build:prod
+pnpm preview
+```
+
+生产构建输出到 `dist`。部署时需要由 Nginx 或网关转发 `/prod-api`，并支持 `/ws` WebSocket、文件上传和媒体请求。
+
+## 目录说明
+
+```text
+public/models          机器人 URDF 和网格模型
+public/inspection      巡检机械臂模型
+src/adapters           URDF/Xacro 模型适配
+src/api                REST API 封装
+src/components         公共及业务组件
+src/router             公共路由和隐藏业务路由
+src/store              Pinia 状态管理
+src/views/device       设备管理与设备控制
+src/views/test         测试业务
+src/views/flow         流程编排
+src/views/inspection   智能巡检
+src/views/evaluate     评价管理
+src/views/vi           语音交互
+src/views/is           智能座舱
+src/views/corpusManger 语料管理
+```
+
+业务菜单由后端 `/getRouters` 动态返回。数据库菜单中的 `component` 必须与 `src/views` 下的实际页面路径一致，权限字符必须与后端控制器保持一致。
+
+## 配置说明
+
+- `.env.development`：本地开发地址。
+- `.env.staging`：测试环境地址。
+- `.env.production`：生产环境地址、Node-RED 和 MinIO。
+- `vite.config.js`：代理、端口、Monaco 和构建分包。
+- `src/settings.js`：布局、页签和版权配置。
+
+生产密码、访问密钥和内部网络配置应通过部署环境注入，不要提交新的敏感信息。

bin/build.bat

@@ -0,0 +1,12 @@
+@echo off
+echo.
+echo [信息] 打包Web工程，生成dist文件。
+echo.
+
+%~d0
+cd %~dp0
+
+cd ..
+yarn build:prod
+
+pause

bin/package.bat

@@ -0,0 +1,12 @@
+@echo off
+echo.
+echo [信息] 安装Web工程，生成node_modules文件。
+echo.
+
+%~d0
+cd %~dp0
+
+cd ..
+yarn --registry=https://registry.npmmirror.com
+
+pause

bin/run-web.bat

@@ -0,0 +1,12 @@
+@echo off
+echo.
+echo [信息] 使用 Vite 命令运行 Web 工程。
+echo.
+
+%~d0
+cd %~dp0
+
+cd ..
+yarn dev
+
+pause

index.html

@@ -7,7 +7,7 @@
   <meta name="renderer" content="webkit">
   <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1, user-scalable=no">
   <link rel="icon" href="/favicon.ico">
-  <title>招商车研物联网平台管理系统</title>
+  <title>%VITE_APP_TITLE%</title>
   <!--[if lt IE 11]><script>window.location.href='/html/ie.html';</script><![endif]-->
   <style>
     html,

package.json

@@ -1,32 +1,36 @@
 {
-  "name": "CMVR-IOT-UI",
+  "name": "cmvr-iot-aima",
-  "version": "3.8.8",
+  "version": "1.0.0",
-  "description": "CMVR-IOT平台管理系统前端UI框架",
+  "description": "招商车研物联网平台管理系统前端",
   "author": "CMVR",
   "license": "MIT",
   "type": "module",
   "scripts": {
     "dev": "vite",
     "build:dev": "vite build --mode development",
-    "build:prod": "vite build --mode production",
+    "build:prod": "vite build",
-    "build:staging": "vite build --mode staging --verbose",
+    "build:stage": "vite build --mode staging",
+    "build:staging": "vite build --mode staging",
     "preview": "vite preview"
   },
   "dependencies": {
-    "@element-plus/icons-vue": "2.3.1",
+    "@cmvr/iot-common": "1.0.0",
-    "@logicflow/core": "^2.0.13",
+    "@element-plus/icons-vue": "2.3.2",
-    "@logicflow/extension": "^2.0.18",
+    "@vue-flow/background": "^1.3.2",
+    "@vue-flow/controls": "^1.1.3",
+    "@vue-flow/core": "^1.48.2",
     "@vueup/vue-quill": "1.2.0",
-    "@vueuse/core": "10.11.0",
+    "@vueuse/core": "14.1.0",
     "ace-builds": "^1.43.0",
-    "axios": "0.28.1",
+    "autofit.js": "^3.2.8",
+    "axios": "1.13.2",
     "clipboard": "2.0.11",
     "dayjs": "^1.11.13",
-    "echarts": "5.5.1",
+    "echarts": "5.6.0",
-    "element-plus": "2.9.4",
+    "element-plus": "2.13.1",
     "file-saver": "2.0.5",
-    "fuse.js": "6.6.2",
+    "fuse.js": "7.1.0",
-    "js-beautify": "1.14.11",
+    "js-beautify": "1.15.4",
     "js-cookie": "3.0.5",
     "jsencrypt": "3.3.2",
     "json-editor-vue": "^0.18.1",
@@ -35,32 +39,38 @@
     "monaco-editor": "^0.55.1",
     "nprogress": "0.2.0",
     "pako": "^2.1.0",
-    "pinia": "2.1.7",
+    "pinia": "3.0.4",
-    "pnpm": "^10.23.0",
     "socket.io-client": "^4.8.1",
     "sockjs-client": "^1.6.1",
+    "sortablejs": "^1.15.6",
     "splitpanes": "3.1.5",
     "three": "^0.181.2",
     "urdf-loader": "^0.12.6",
     "uuid": "^11.1.0",
-    "vue": "3.4.31",
+    "vue": "3.5.26",
     "vue-cropper": "1.1.1",
-    "vue-router": "4.4.0",
+    "vue-router": "4.6.4",
     "vue3-ace-editor": "^2.2.4",
     "vue3-json-viewer": "2.3.0",
     "vuedraggable": "4.1.0",
+    "xacro-parser": "^0.3.11",
     "xgplayer": "^3.0.22"
   },
   "devDependencies": {
-    "@vitejs/plugin-vue": "5.0.5",
+    "@vitejs/plugin-vue": "5.2.4",
-    "file-loader": "^6.2.0",
+    "sass-embedded": "1.97.2",
-    "sass": "1.77.5",
+    "unplugin-auto-import": "0.18.6",
-    "unplugin-auto-import": "0.17.6",
     "unplugin-vue-setup-extend-plus": "1.0.1",
-    "vite": "5.3.2",
+    "vite": "6.4.1",
     "vite-plugin-compression": "0.5.1",
     "vite-plugin-monaco-editor": "^1.1.0",
     "vite-plugin-svg-icons": "2.0.1"
   },
-  "packageManager": "pnpm@9.15.9+sha512.68046141893c66fad01c079231128e9afb89ef87e2691d69e4d40eee228988295fd4682181bae55b58418c3a253bde65a505ec7c5f9403ece5cc3cd37dcf2531"
+  "overrides": {
+    "quill": "2.0.2"
+  },
+  "resolutions": {
+    "quill": "2.0.2"
+  },
+  "packageManager": "pnpm@10.24.0"
 }

pnpm-workspace.yaml

@@ -0,0 +1,6 @@
+allowBuilds:
+  core-js: true
+  es5-ext: true
+  esbuild: true
+  json-editor-vue: true
+  vue-demi: true

public/inspection/elfin10/elfin10.urdf.xacro

@@ -0,0 +1,465 @@
+<?xml version="1.0"?>
+
+<robot name="elfin10" xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <xacro:arg name="use_real_hardware" default="true" />
+  <xacro:arg name="use_fake_hardware" default="false" />
+
+  <!-- Load TRANSMISSION file: -->
+  <xacro:include filename="file://$(find elfin_description)/elfin10_transmission.xacro" />
+  <!-- Load GAZEBO/ROS2_CONTROL file: -->
+  <xacro:include filename="file://$(find elfin_description)/elfin10_gazebo.xacro" />
+
+  <xacro:property name="PI" value="3.1415926535897931"/>
+  
+  <xacro:property name="density" value="3.09"/>
+  <!-- <xacro:macro name="elfin10"> -->
+    
+    <!-- TRANSMISSION: -->
+    <xacro:elfin10_transmission />
+    <!-- GAZEBO - ROS2_CONTROL: -->
+    <xacro:elfin10_gazebo  
+    use_real_hardware="$(arg use_real_hardware)" 
+    use_fake_hardware="$(arg use_fake_hardware)"/>
+    
+   <link name="world"/>
+  
+  <joint name="world_base" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="world" />
+    <child
+      link="elfin_base_link" />
+  </joint>
+  
+   <link name="elfin_base_link"/>
+  
+  <joint name="elfin_base_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 ${PI/2}" />
+    <parent
+      link="elfin_base_link" />
+    <child
+      link="elfin_base" />
+  </joint>
+
+ <link
+    name="elfin_base">
+    <inertial>
+      <origin
+        xyz="-0.00226511349377665 4.35718066723588E-06 0.0325128562537015"
+        rpy="0 0 0" />
+      <mass
+        value="1.66727740473724" />
+      <inertia
+        ixx="0.004269288474386"
+        ixy="6.02518130623876E-08"
+        ixz="-6.92087963593712E-05"
+        iyy="0.00385585336301628"
+        iyz="-5.51423740998761E-08"
+        izz="0.0068204473327682" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="elfin_link1">
+    <inertial>
+      <origin
+        xyz="7.61162863471406E-07 -0.00300107309756385 -0.0432743915921636"
+        rpy="0 0 0" />
+      <mass
+        value="6.3589066662676" />
+      <inertia
+        ixx="0.0391771076676677"
+        ixy="5.46819690041203E-08"
+        ixz="4.18972540516346E-07"
+        iyy="0.0381555138034643"
+        iyz="0.00661206821297882"
+        izz="0.0211340101406971" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="elfin_joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.26"
+      rpy="0 0 0" />
+    <parent
+      link="elfin_base" />
+    <child
+      link="elfin_link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="420"
+      velocity="1.57" />
+  </joint>
+  <link
+    name="elfin_link2">
+    <inertial>
+      <origin
+        xyz="-1.29217317440473E-07 0.204406209458582 0.145205671136993"
+        rpy="0 0 0" />
+      <mass
+        value="5.51072381215317" />
+      <inertia
+        ixx="0.140886684844275"
+        ixy="-1.98882818733046E-05"
+        ixz="1.28793862225363E-06"
+        iyy="0.00904523320332792"
+        iyz="0.00556623571013066"
+        izz="0.143882970137024" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="elfin_joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="elfin_link1" />
+    <child
+      link="elfin_link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.35"
+      upper="2.35"
+      effort="420"
+      velocity="1.57" />
+  </joint>
+  <link
+    name="elfin_link3">
+    <inertial>
+      <origin
+        xyz="0.0357493010718184 -2.74303992683623E-06 -0.00441107040289549"
+        rpy="0 0 0" />
+      <mass
+        value="3.25128088148268" />
+      <inertia
+        ixx="0.00712273850158261"
+        ixy="4.14573354600121E-07"
+        ixz="-0.00240614658407673"
+        iyy="0.0131139013038093"
+        iyz="-1.53858261863385E-07"
+        izz="0.0123861174875263" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="elfin_joint3"
+    type="revolute">
+    <origin
+      xyz="0 0.48 0"
+      rpy="-3.1416 0 1.5708" />
+    <parent
+      link="elfin_link2" />
+    <child
+      link="elfin_link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.61"
+      upper="2.61"
+      effort="200"
+      velocity="1.57" />
+  </joint>
+  <link
+    name="elfin_link4">
+    <inertial>
+      <origin
+        xyz="3.8972274666868E-06 -0.065883038527668 0.300149807420176"
+        rpy="0 0 0" />
+      <mass
+        value="2.45076028364132" />
+      <inertia
+        ixx="0.0366043963749035"
+        ixy="2.14481800816891E-07"
+        ixz="1.74370308297691E-06"
+        iyy="0.0331005868546169"
+        iyz="0.00876542795872678"
+        izz="0.00689303506560623" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="elfin_joint4"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="elfin_link3" />
+    <child
+      link="elfin_link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="200"
+      velocity="1.57" />
+  </joint>
+  <link
+    name="elfin_link5">
+    <inertial>
+      <origin
+        xyz="5.37084413168812E-06 -0.0262437975997385 -0.00353971828905618"
+        rpy="0 0 0" />
+      <mass
+        value="1.39234539037872" />
+      <inertia
+        ixx="0.0033625821599978"
+        ixy="2.21090591006111E-07"
+        ixz="-5.5969383984273E-07"
+        iyy="0.00182229285631246"
+        iyz="0.000639319386824375"
+        izz="0.00292731816323284" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="elfin_joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0.52"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="elfin_link4" />
+    <child
+      link="elfin_link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.56"
+      upper="2.56"
+      effort="69"
+      velocity="1.57" />
+  </joint>
+  <link
+    name="elfin_link6">
+    <inertial>
+      <origin
+        xyz="-8.45231478862452E-06 -0.000388392932234965 0.144636177508013"
+        rpy="0 0 0" />
+      <mass
+        value="0.297803050744826" />
+      <inertia
+        ixx="0.000151919382929214"
+        ixy="-1.8598001023495E-09"
+        ixz="6.95653480101813E-08"
+        iyy="0.000155217204136347"
+        iyz="-6.63866631888914E-08"
+        izz="0.00027009779924127" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="file://$(find elfin_description)/meshes/elfin10/elfin_link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="elfin_joint6"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="elfin_link5" />
+    <child
+      link="elfin_link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="69"
+      velocity="1.57" />
+  </joint>
+  <link
+    name="elfin_end_link"/>
+  <joint
+    name="elfin_end_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.0 0.1735"
+      rpy="0 0 0" />
+    <parent
+      link="elfin_link6" />
+    <child
+      link="elfin_end_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link name="elfin_dummy_gripper"/>
+  
+  <joint name="elfin_dummy_joint" type="fixed">
+    <origin
+      xyz="0 0.109 0"
+      rpy="${-PI/2} ${-PI/2} 0" />
+    <parent
+      link="elfin_link6" />
+    <child
+      link="elfin_dummy_gripper" />
+  </joint>
+  
+</robot>

public/inspection/elfin10/elfin10_gazebo.xacro

@@ -0,0 +1,134 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="elfin10_gazebo" 
+    params="use_fake_hardware:=false 
+    use_real_hardware:=true">
+
+    <gazebo>
+      <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+        <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
+        <parameters>$(find elfin10_ros2_gazebo)/config/elfin_arm_controller.yaml</parameters>
+      </plugin>
+    </gazebo>
+    
+    <ros2_control name="GazeboSystem" type="system">
+
+      <hardware>
+        <xacro:if value="${use_real_hardware}">
+          <plugin>elfin_hardware_interface/ElfinHWInterface</plugin>
+        </xacro:if>
+
+        <xacro:unless value="${use_real_hardware}">
+          <xacro:if value="${use_fake_hardware}">
+              <plugin>fake_components/GenericSystem</plugin>
+          </xacro:if>
+
+          <xacro:unless value="${use_fake_hardware}">
+            <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+          </xacro:unless>
+        </xacro:unless>
+      </hardware>
+      
+
+      <joint name="elfin_joint1">
+        <command_interface name="position">
+          <param name="min">-3.14</param>
+          <param name="max">3.14</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <param name="min">-1.57</param>
+          <param name="max">1.57</param>
+        </command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="elfin_joint2">
+        <command_interface name="position">
+          <param name="min">-2.35</param>
+          <param name="max">2.35</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <param name="min">-1.57</param>
+          <param name="max">1.57</param>
+        </command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="elfin_joint3">
+        <command_interface name="position">
+          <param name="min">-2.61</param>
+          <param name="max">2.61</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <param name="min">-1.57</param>
+          <param name="max">1.57</param>
+        </command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="elfin_joint4">
+        <command_interface name="position">
+          <param name="min">-3.14</param>
+          <param name="max">3.14</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <param name="min">-1.57</param>
+          <param name="max">1.57</param>
+        </command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="elfin_joint5">
+        <command_interface name="position">
+          <param name="min">-2.56</param>
+          <param name="max">2.56</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <param name="min">-1.57</param>
+          <param name="max">1.57</param>
+        </command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="elfin_joint6">
+        <command_interface name="position">
+          <param name="min">-3.14</param>
+          <param name="max">3.14</param>
+        </command_interface>
+        <command_interface name="velocity">
+          <param name="min">-1.57</param>
+          <param name="max">1.57</param>
+        </command_interface>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+
+    </ros2_control>
+
+ <gazebo reference="elfin_link2">
+    <visual name='visual'>
+     <material>
+       <script>
+         <uri>file://media/materials/scripts/gazebo.material</uri>
+         <name>Gazebo/Grey</name>
+       </script>
+     </material>
+    </visual>
+  </gazebo>
+
+  <gazebo reference="elfin_link4">
+    <visual name='visual'>
+     <material>
+       <script>
+         <uri>file://media/materials/scripts/gazebo.material</uri>
+         <name>Gazebo/Grey</name>
+       </script>
+     </material>
+    </visual>
+  </gazebo>
+
+  </xacro:macro>
+
+</robot>

public/inspection/elfin10/elfin10_transmission.xacro

@@ -0,0 +1,69 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <xacro:macro name="elfin10_transmission" >
+
+     <transmission name="elfin_joint1_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="elfin_joint1">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="elfin_joint1_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    <transmission name="elfin_joint2_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="elfin_joint2">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="elfin_joint2_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+    
+    <transmission name="elfin_joint3_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="elfin_joint3">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="elfin_joint3_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+    
+    <transmission name="elfin_joint4_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="elfin_joint4">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="elfin_joint4_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+    
+    <transmission name="elfin_joint5_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="elfin_joint5">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="elfin_joint5_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+    
+    <transmission name="elfin_joint6_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="elfin_joint6">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="elfin_joint6_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+  </xacro:macro>
+
+</robot>

public/models/dual_arm.urdf

@@ -0,0 +1,660 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="dual_arm">
+   <mujoco>
+    <compiler
+    meshdir="meshes"
+    balanceinertia="true"
+    discardvisual="false" />
+   </mujoco>
+
+
+    <link name="base_link">
+      <visual>
+        <origin xyz="0 0 0.6" rpy="0 0 0"/>
+        <geometry>
+          <cylinder radius="0.05" length="1.2"/>
+        </geometry>
+        <material name="gray">
+          <color rgba="0.5 0.5 0.5 1.0"/>
+        </material>
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0.6" rpy="0 0 0"/>
+        <geometry>
+          <cylinder radius="0.05" length="1.2"/>
+        </geometry>
+      </collision>
+
+        <inertial>
+
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <mass value="25.4469"/>
+
+          <inertia
+            ixx="3.06953"
+            ixy="0.0"
+            ixz="0.0"
+            iyy="3.06953"
+            iyz="0.0"
+            izz="0.03181"/>
+        </inertial>
+    </link>
+
+    <joint name="base_fixed" type="fixed">
+      <origin rpy="0 0 0" xyz="0 0 1.2"/>
+      <parent link="base_link"/>
+      <child link="PELVIS_S"/>
+    </joint>
+
+  <link name="PELVIS_S">
+    <inertial>
+      <origin xyz="3.78529087037144E-05 3.81781425684836E-07 0.0386396273530852" rpy="0 0 0" />
+      <mass value="2.10624590271277" />
+      <inertia
+        ixx="0.00165706865324979"
+        ixy="3.13663044821662E-09"
+        ixz="6.84209533216046E-07"
+        iyy="0.00136736758630241"
+        iyz="-1.01014607878816E-10"
+        izz="0.00168295663089359" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="L_SHOULDER_P_S">
+    <inertial>
+      <origin xyz="-0.00982258725282134 0.0704593083751867 1.15261874861217E-06" rpy="0 0 0" />
+      <mass value="0.880737519698403" />
+      <inertia
+        ixx="0.000583190308378148"
+        ixy="-1.53153074560473E-05"
+        ixz="6.58466471754072E-09"
+        iyy="0.000445532440067177"
+        iyz="6.37001404038516E-09"
+        izz="0.000465648071069952" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_P" type="revolute">
+    <origin xyz="0 0.0945 0.042" rpy="0 0 0" />
+    <parent link="PELVIS_S" />
+    <child link="L_SHOULDER_P_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="-1.57" upper="1.57" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="L_SHOULDER_R_S">
+    <inertial>
+      <origin xyz="-0.0346025282975857 0.091739327988169 -1.67085072999562E-08" rpy="0 0 0" />
+      <mass value="0.594788424442483" />
+      <inertia
+        ixx="0.000380970396712656"
+        ixy="4.80751844573946E-05"
+        ixz="-1.34913746586865E-11"
+        iyy="0.000320962178597474"
+        iyz="-1.00039763442409E-09"
+        izz="0.000414771047901155" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_R" type="revolute">
+    <origin xyz="0.035 0.0765 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_P_S" />
+    <child link="L_SHOULDER_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2" upper="2" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="L_SHOULDER_Y_S">
+    <inertial>
+      <origin xyz="-0.00440976862014801 0.0863620459174068 9.50748668682166E-09"
+        rpy="0 0 0" />
+      <mass value="0.563406026626801" />
+      <inertia
+        ixx="0.000327003834287552"
+        ixy="-1.8057438966771E-05"
+        ixz="7.28778136267901E-10"
+        iyy="0.000213830709361531"
+        iyz="1.49273668517817E-10"
+        izz="0.000297341029639189" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_Y" type="revolute">
+    <origin xyz="-0.035 0.1475 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_R_S" />
+    <child link="L_SHOULDER_Y_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="-2.18" upper="0" effort="80" velocity="3.8758" />
+  </joint>
+
+  <link name="L_ELBOW_R_S">
+    <inertial>
+      <origin xyz="-0.0335624237303443 0.0603199964106564 2.99655911639718E-07" rpy="0 0 0" />
+      <mass value="0.393571904406493" />
+      <inertia
+        ixx="0.00017277119386253"
+        ixy="2.34549801867355E-05"
+        ixz="-1.90560556659271E-09"
+        iyy="0.000155340245267897"
+        iyz="8.82493073600007E-09"
+        izz="0.00018104232734159" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_ELBOW_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_ELBOW_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_ELBOW_R" type="revolute">
+    <origin xyz="0.034 0.1025 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_Y_S" />
+    <child link="L_ELBOW_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2.05" upper="0" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="L_WRIST_P_S">
+    <inertial>
+      <origin xyz="-1.39659173115092E-10 0.0675972604744393 0.019200551565574" rpy="0 0 0" />
+      <mass value="0.442332465815496" />
+      <inertia
+        ixx="0.000476754055455895"
+        ixy="-4.61505824713347E-15"
+        ixz="6.03808112272229E-18"
+        iyy="0.000103466585850499"
+        iyz="-4.88426705501198E-05"
+        izz="0.000482956345754213" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_P" type="revolute">
+    <origin xyz="-0.034 0.0965 0" rpy="0 0 0" />
+    <parent link="L_ELBOW_R_S" />
+    <child link="L_WRIST_P_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="3.14" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="L_WRIST_Y_S">
+    <inertial>
+      <origin xyz="-0.00464135887331864 -5.06426789392833E-10 -0.0341253783666609" rpy="0 0 0" />
+      <mass value="0.23573847772002" />
+      <inertia
+        ixx="5.10686940455785E-05"
+        ixy="7.45706654358429E-16"
+        ixz="6.2619568923368E-06"
+        iyy="6.00636019624519E-05"
+        iyz="1.27989654155383E-16"
+        izz="5.32182903609189E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_Y" type="revolute">
+    <origin xyz="0 0.1525 0.039" rpy="0 0 0" />
+    <parent link="L_WRIST_P_S" />
+    <child link="L_WRIST_Y_S" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.78" upper="0.78" effort="50" velocity="0.79" />
+  </joint>
+
+  <link name="L_WRIST_R_S">
+    <inertial>
+      <origin xyz="-0.0161477357620243 0.0955046558857351 -0.00499392489444117" rpy="0 0 0" />
+      <mass value="0.504894112043562" />
+      <inertia
+        ixx="0.000186833711781125"
+        ixy="-3.99488705622731E-06"
+        ixz="-1.51920720398336E-06"
+        iyy="0.000179960980467837"
+        iyz="3.6992669535716E-06"
+        izz="0.000280756101568308" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_R" type="revolute">
+    <origin xyz="0.0258 0 -0.039" rpy="0 0 0" />
+    <parent link="L_WRIST_Y_S" />
+    <child link="L_WRIST_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-1.57" upper="0.26" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="R_SHOULDER_P_S">
+    <inertial>
+      <origin xyz="-0.00982258725282141 -0.0704593093873431 -1.15069920925137E-06" rpy="0 0 0" />
+      <mass value="0.880737519698404" />
+      <inertia
+        ixx="0.000583190308378149"
+        ixy="1.53153074560471E-05"
+        ixz="-6.58466471736542E-09"
+        iyy="0.000445532440067178"
+        iyz="6.37001403998779E-09"
+        izz="0.000465648071069953" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_SHOULDER_P" type="revolute">
+    <origin xyz="0 -0.0945 0.042" rpy="0 0 0" />
+    <parent link="PELVIS_S" />
+    <child link="R_SHOULDER_P_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-3.14" upper="3.14" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="R_SHOULDER_R_S">
+    <inertial>
+      <origin xyz="-0.0346025282975784 -0.09173932900033 1.86280643132974E-08" rpy="0 0 0" />
+      <mass value="0.59478842444248" />
+      <inertia
+        ixx="0.000380970396712653"
+        ixy="-4.80751844573946E-05"
+        ixz="1.34913746041655E-11"
+        iyy="0.000320962178597472"
+        iyz="-1.00039763417375E-09"
+        izz="0.000414771047901152" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_SHOULDER_R" type="revolute">
+    <origin xyz="0.035 -0.0765 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_P_S" />
+    <child link="R_SHOULDER_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.78" upper="1.57" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="R_SHOULDER_Y_S">
+    <inertial>
+      <origin xyz="-0.00440976862014946 -0.0863620469295699 -7.58791862676134E-09" rpy="0 0 0" />
+      <mass value="0.563406026626801" />
+      <inertia
+        ixx="0.000327003834287551"
+        ixy="1.80574389667711E-05"
+        ixz="-7.28778136077729E-10"
+        iyy="0.000213830709361532"
+        iyz="1.49273668428957E-10"
+        izz="0.000297341029639189" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_Y_S.STL" />
+      </geometry>
+      <material
+        name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_SHOULDER_Y" type="revolute">
+    <origin xyz="-0.035 -0.1475 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_R_S" />
+    <child link="R_SHOULDER_Y_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-3.14" upper="3.14" effort="80" velocity="3.8758" />
+  </joint>
+
+  <link name="R_ELBOW_R_S">
+    <inertial>
+      <origin xyz="-0.0335624237303424 -0.0603199974228191 -2.97736340082455E-07" rpy="0 0 0" />
+      <mass value="0.393571904406492" />
+      <inertia
+        ixx="0.000172771193862529"
+        ixy="-2.34549801867353E-05"
+        ixz="1.90560556668771E-09"
+        iyy="0.000155340245267897"
+        iyz="8.82493073602971E-09"
+        izz="0.00018104232734159" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_ELBOW_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_ELBOW_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_ELBOW_R" type="revolute">
+    <origin xyz="0.034 -0.1025 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_Y_S" />
+    <child link="R_ELBOW_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="2.05" effort="80" velocity="3.8758" />
+  </joint>
+
+  <link name="R_WRIST_P_S">
+    <inertial>
+      <origin xyz="-1.39656577968772E-10 -0.0675972614865965 0.0192005515655728" rpy="0 0 0" />
+      <mass value="0.442332465815497" />
+      <inertia
+        ixx="0.000476754055455896"
+        ixy="-4.61462558956188E-15"
+        ixz="-5.91762926004267E-18"
+        iyy="0.0001034665858505"
+        iyz="4.88426705501212E-05"
+        izz="0.000482956345754214" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_P" type="revolute">
+    <origin xyz="-0.034 -0.0965 0" rpy="0 0 0" />
+    <parent link="R_ELBOW_R_S" />
+    <child link="R_WRIST_P_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-3.14" upper="3.14" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="R_WRIST_Y_S">
+    <inertial>
+      <origin xyz="-0.00464135887330083 -5.06426456325926E-10 -0.0341253783666614" rpy="0 0 0" />
+      <mass value="0.235738477720019" />
+      <inertia
+        ixx="5.1068694045578E-05"
+        ixy="7.45771487459288E-16"
+        ixz="6.26195689233664E-06"
+        iyy="6.00636019624515E-05"
+        iyz="1.27828046342987E-16"
+        izz="5.32182903609188E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_Y" type="revolute">
+    <origin xyz="0 -0.1525 0.039" rpy="0 0 0" />
+    <parent link="R_WRIST_P_S" />
+    <child link="R_WRIST_Y_S" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.78" upper="0.78" effort="50" velocity="0.79" />
+  </joint>
+
+  <link name="R_WRIST_R_S">
+    <inertial>
+      <origin xyz="-0.0201642233698132 -0.11074968386657 -0.00598955339232021" rpy="0 0 0" />
+      <mass value="0.504366058218534" />
+      <inertia
+        ixx="0.000185559065855467"
+        ixy="5.75889766751509E-06"
+        ixz="2.40683898454438E-06"
+        iyy="0.000131246007872084"
+        iyz="1.60533277040148E-06"
+        izz="0.000271800951396149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_R_S.STL" />
+      </geometry>
+      <material
+        name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_R" type="revolute">
+    <origin xyz="0.03 0 -0.039" rpy="0 0 0" />
+    <parent link="R_WRIST_Y_S" />
+    <child link="R_WRIST_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.26" upper="1.57" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="R_FINGER_TIP">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.004"/>
+      </geometry>
+      <material name="">
+        <color rgba="0 1 1 1"/> <!-- 绿色 -->
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_FINGER_TIP_FIXED" type="fixed">
+    <origin xyz="0.00684256  -0.284077 0.00801525" rpy="0 0 0"/>
+    <parent link="R_WRIST_R_S"/>
+    <child link="R_FINGER_TIP"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <link name="R_CAM">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.004"/>
+      </geometry>
+      <material name="">
+        <color rgba="0 1 0 1"/> <!-- 绿色 -->
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_CAM_FIXED" type="fixed">
+    <origin xyz="-0.01212 -0.17655 0.07506" rpy="-1.5707963267 0 3.1415926535"/>
+    <parent link="R_WRIST_R_S"/>
+    <child link="R_CAM"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+</robot>

public/models/left_arm.urdf

@@ -0,0 +1,281 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="left_arm">
+   <mujoco>
+    <compiler
+    meshdir="meshes"
+    balanceinertia="true"
+    discardvisual="false" />
+   </mujoco>
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder radius="0.05" length="1.2"/>
+      </geometry>
+      <material name="gray">
+        <color rgba="0.5 0.5 0.5 1.0"/>
+      </material>
+    </visual>
+
+    <collision>
+      <geometry>
+        <cylinder radius="0.05" length="1.2"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="20.0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="base_fixed" type="fixed">
+    <origin rpy="0 0 0.0" xyz="0 0 0.6"/>
+    <parent link="base_link"/>
+    <child link="PELVIS_S"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+
+  <link name="PELVIS_S">
+    <inertial>
+      <origin xyz="3.78529087037144E-05 3.81781425684836E-07 0.0386396273530852" rpy="0 0 0" />
+      <mass value="2.10624590271277" />
+      <inertia ixx="0.00165706865324979" ixy="3.13663044821662E-09" ixz="6.84209533216046E-07" iyy="0.00136736758630241" iyz="-1.01014607878816E-10" izz="0.00168295663089359" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_P" type="revolute">
+    <origin xyz="0 0.0945 0.042" rpy="0 0 0" />
+    <parent link="PELVIS_S" />
+    <child link="L_SHOULDER_P_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="3.351" />
+  </joint>
+
+  <link name="L_SHOULDER_P_S">
+    <inertial>
+      <origin xyz="-0.00982258725282134 0.0704593083751867 1.15261874861217E-06" rpy="0 0 0" />
+      <mass value="0.880737519698403" />
+      <inertia ixx="0.000583190308378148" ixy="-1.53153074560473E-05" ixz="6.58466471754072E-09" iyy="0.000445532440067177" iyz="6.37001404038516E-09" izz="0.000465648071069952" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_P_S.STL" />
+      </geometry>
+      <material
+        name="">
+        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_R" type="revolute">
+    <origin xyz="0.035 0.0765 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_P_S" />
+    <child link="L_SHOULDER_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="100" velocity="3.351" />
+  </joint>
+
+  <link name="L_SHOULDER_R_S">
+    <inertial>
+      <origin xyz="-0.0346025282975857 0.091739327988169 -1.67085072999562E-08" rpy="0 0 0" />
+      <mass value="0.594788424442483" />
+      <inertia ixx="0.000380970396712656" ixy="4.80751844573946E-05" ixz="-1.34913746586865E-11" iyy="0.000320962178597474" iyz="-1.00039763442409E-09" izz="0.000414771047901155" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_SHOULDER_Y" type="revolute">
+    <origin xyz="-0.035 0.1475 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_R_S" />
+    <child link="L_SHOULDER_Y_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.14" upper="3.14" effort="49" velocity="3.8758" />
+  </joint>
+
+  <link name="L_SHOULDER_Y_S">
+    <inertial>
+      <origin xyz="-0.00440976862014801 0.0863620459174068 9.50748668682166E-09" rpy="0 0 0" />
+      <mass value="0.563406026626801" />
+      <inertia ixx="0.000327003834287552" ixy="-1.8057438966771E-05" ixz="7.28778136267901E-10" iyy="0.000213830709361531" iyz="1.49273668517817E-10" izz="0.000297341029639189" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_SHOULDER_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_ELBOW_R" type="revolute">
+    <origin xyz="0.034 0.1025 0" rpy="0 0 0" />
+    <parent link="L_SHOULDER_Y_S" />
+    <child link="L_ELBOW_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="49" velocity="3.8758" />
+  </joint>
+
+  <link name="L_ELBOW_R_S">
+    <inertial>
+      <origin xyz="-0.0335624237303443 0.0603199964106564 2.99655911639718E-07" rpy="0 0 0" />
+      <mass value="0.393571904406493" />
+      <inertia ixx="0.00017277119386253" ixy="2.34549801867355E-05" ixz="-1.90560556659271E-09" iyy="0.000155340245267897" iyz="8.82493073600007E-09" izz="0.00018104232734159" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_ELBOW_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_ELBOW_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_P" type="revolute">
+    <origin xyz="-0.034 0.0965 0" rpy="0 0 0" />
+    <parent link="L_ELBOW_R_S" />
+    <child link="L_WRIST_P_S" />
+    <axis xyz="0 1 0" />
+    <limit lower="-3.14" upper="3.14" effort="26" velocity="4.19" />
+  </joint>
+
+  <link name="L_WRIST_P_S">
+    <inertial>
+      <origin xyz="-1.39659173115092E-10 0.0675972604744393 0.019200551565574" rpy="0 0 0" />
+      <mass value="0.442332465815496" />
+      <inertia ixx="0.000476754055455895" ixy="-4.61505824713347E-15" ixz="6.03808112272229E-18" iyy="0.000103466585850499" iyz="-4.88426705501198E-05" izz="0.000482956345754213" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_Y" type="revolute">
+    <origin xyz="0 0.1525 0.039" rpy="0 0 0" />
+    <parent link="L_WRIST_P_S" />
+    <child link="L_WRIST_Y_S" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.14" upper="3.14" effort="26" velocity="4.71" />
+  </joint>
+
+  <link name="L_WRIST_Y_S">
+    <inertial>
+      <origin xyz="-0.00464135887331864 -5.06426789392833E-10 -0.0341253783666609" rpy="0 0 0" />
+      <mass value="0.23573847772002" />
+      <inertia ixx="5.10686940455785E-05" ixy="7.45706654358429E-16" ixz="6.2619568923368E-06" iyy="6.00636019624519E-05" iyz="1.27989654155383E-16" izz="5.32182903609189E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="L_WRIST_R" type="revolute">
+    <origin xyz="0.0258 0 -0.039" rpy="0 0 0" />
+    <parent link="L_WRIST_Y_S" />
+    <child link="L_WRIST_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-3.14" upper="3.14" effort="26" velocity="4.71" />
+  </joint>
+
+  <link name="L_WRIST_R_S">
+    <inertial>
+      <origin xyz="-0.0161477357620243 0.0955046558857351 -0.00499392489444117" rpy="0 0 0" />
+      <mass value="0.504894112043562" />
+      <inertia ixx="0.000186833711781125" ixy="-3.99488705622731E-06" ixz="-1.51920720398336E-06" iyy="0.000179960980467837" iyz="3.6992669535716E-06" izz="0.000280756101568308" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/L_WRIST_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+
+</robot>

public/models/right_arm.urdf

@@ -0,0 +1,322 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<robot name="right_arm">
+   <mujoco>
+    <compiler
+    meshdir="meshes"
+    balanceinertia="true"
+    discardvisual="false" />
+   </mujoco>
+  <link name="PELVIS_S">
+    <inertial>
+      <origin xyz="3.78529e-05 3.81781e-07 0.0386396" rpy="0 0 0"/>
+      <mass value="2.10624590271277"/>
+      <inertia 
+        ixx="0.00165706865324979" ixy="3.13663e-09"  ixz="6.84210e-07"
+        iyy="0.00136736758630241" iyz="-1.01015e-10" izz="0.00168295663089359"/>
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL"/>
+      </geometry>
+      <material name="light_gray">
+        <color rgba="0.698 0.698 0.698 1"/>
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/PELVIS_S.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="R_SHOULDER_P_S">
+    <inertial>
+      <origin xyz="-0.00982258725282141 -0.0704593093873431 -1.15069920925137E-06" rpy="0 0 0" />
+      <mass value="0.880737519698404" />
+      <inertia
+        ixx="0.000583190308378149"
+        ixy="1.53153074560471E-05"
+        ixz="-6.58466471736542E-09"
+        iyy="0.000445532440067178"
+        iyz="6.37001403998779E-09"
+        izz="0.000465648071069953" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_SHOULDER_P" type="revolute">
+    <origin xyz="0 -0.0945 0.042" rpy="0 0 0" />
+    <parent link="PELVIS_S" />
+    <child link="R_SHOULDER_P_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-1.57" upper="1.57" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="R_SHOULDER_R_S">
+    <inertial>
+      <origin xyz="-0.0346025282975784 -0.09173932900033 1.86280643132974E-08" rpy="0 0 0" />
+      <mass value="0.59478842444248" />
+      <inertia
+        ixx="0.000380970396712653" ixy="-4.80751844573946E-05"  ixz="1.34913746041655E-11"
+        iyy="0.000320962178597472" iyz="-1.00039763417375E-09" izz="0.000414771047901152" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="R_SHOULDER_R" type="revolute">
+    <origin xyz="0.035 -0.0765 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_P_S" />
+    <child link="R_SHOULDER_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-2" upper="2" effort="120" velocity="3.351" />
+  </joint>
+
+  <link name="R_SHOULDER_Y_S">
+    <inertial>
+      <origin xyz="-0.00440976862014946 -0.0863620469295699 -7.58791862676134E-09" rpy="0 0 0" />
+      <mass value="0.563406026626801" />
+      <inertia
+        ixx="0.000327003834287551"
+        ixy="1.80574389667711E-05"
+        ixz="-7.28778136077729E-10"
+        iyy="0.000213830709361532"
+        iyz="1.49273668428957E-10"
+        izz="0.000297341029639189" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_SHOULDER_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_SHOULDER_Y" type="revolute">
+    <origin xyz="-0.035 -0.1475 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_R_S" />
+    <child link="R_SHOULDER_Y_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="3.14" effort="80" velocity="3.8758" />
+  </joint>
+
+  <link name="R_ELBOW_R_S">
+    <inertial>
+      <origin xyz="-0.0335624237303424 -0.0603199974228191 -2.97736340082455E-07" rpy="0 0 0" />
+      <mass value="0.393571904406492" />
+      <inertia
+        ixx="0.000172771193862529"
+        ixy="-2.34549801867353E-05"
+        ixz="1.90560556668771E-09"
+        iyy="0.000155340245267897"
+        iyz="8.82493073602971E-09"
+        izz="0.00018104232734159" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_ELBOW_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_ELBOW_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_ELBOW_R" type="revolute">
+    <origin xyz="0.034 -0.1025 0" rpy="0 0 0" />
+    <parent link="R_SHOULDER_Y_S" />
+    <child link="R_ELBOW_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="0" upper="2.18" effort="80" velocity="3.8758" />
+  </joint>
+
+  <link name="R_WRIST_P_S">
+    <inertial>
+      <origin xyz="-1.39656577968772E-10 -0.0675972614865965 0.0192005515655728" rpy="0 0 0" />
+      <mass value="0.442332465815497" />
+      <inertia
+        ixx="0.000476754055455896"
+        ixy="-4.61462558956188E-15"
+        ixz="-5.91762926004267E-18"
+        iyy="0.0001034665858505"
+        iyz="4.88426705501212E-05"
+        izz="0.000482956345754214" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_P_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_P_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_P" type="revolute">
+    <origin xyz="-0.034 -0.0965 0" rpy="0 0 0" />
+    <parent link="R_ELBOW_R_S" />
+    <child link="R_WRIST_P_S" />
+    <axis xyz="0 -1 0" />
+    <limit lower="-3.14" upper="0" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="R_WRIST_Y_S">
+    <inertial>
+      <origin xyz="-0.00464135887330083 -5.06426456325926E-10 -0.0341253783666614" rpy="0 0 0" />
+      <mass value="0.235738477720019" />
+      <inertia
+        ixx="5.1068694045578E-05"
+        ixy="7.45771487459288E-16"
+        ixz="6.26195689233664E-06"
+        iyy="6.00636019624515E-05"
+        iyz="1.27828046342987E-16"
+        izz="5.32182903609188E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_Y_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_Y_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_Y" type="revolute">
+    <origin xyz="0 -0.1525 0.039" rpy="0 0 0" />
+    <parent link="R_WRIST_P_S" />
+    <child link="R_WRIST_Y_S" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.78" effort="50" velocity="0.79" />
+  </joint>
+
+  <link name="R_WRIST_R_S">
+    <inertial>
+      <origin xyz="-0.0201642233698132 -0.11074968386657 -0.00598955339232021" rpy="0 0 0" />
+      <mass value="0.204366058218534" />
+      <inertia
+        ixx="0.000185559065855467"
+        ixy="5.75889766751509E-06"
+        ixz="2.40683898454438E-06"
+        iyy="0.000131246007872084"
+        iyz="1.60533277040148E-06"
+        izz="0.000271800951396149" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_R_S.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/R_WRIST_R_S.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_WRIST_R" type="revolute">
+    <origin xyz="0.03 0 -0.039" rpy="0 0 0" />
+    <parent link="R_WRIST_Y_S" />
+    <child link="R_WRIST_R_S" />
+    <axis xyz="1 0 0" />
+    <limit lower="-0.26" upper="1.57" effort="50" velocity="4.71" />
+  </joint>
+
+  <link name="R_FINGER_TIP">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.002"/>
+      </geometry>
+      <material name="">
+        <color rgba="0 1 0 1"/> <!-- 绿色 -->
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="R_FINGER_TIP_FIXED" type="fixed">
+    <origin xyz="-0.01212 -0.17655 0.07506" rpy="3.14159 0 -1.5708"/>
+    <parent link="R_WRIST_R_S"/>
+    <child link="R_FINGER_TIP"/>
+  </joint>
+</robot>

src/adapters/URDFAdapter.js

@@ -0,0 +1,461 @@
+/**
+ * URDF Adapter
+ * Converts urdf-loaders result to unified model
+ */
+import * as THREE from 'three';
+import { UnifiedRobotModel, Link, Joint, JointLimits, VisualGeometry, CollisionGeometry, InertialProperties } from '@/models/UnifiedRobotModel.js';
+
+export class URDFAdapter {
+    /**
+     * Convert urdf-loaders robot object to unified model
+     * @param {THREE.Group} robot - Robot object returned by urdf-loaders
+     * @param {string} urdfXML - Original URDF XML content (optional, for extracting inertial data)
+     * @returns {UnifiedRobotModel}
+     */
+    static convert(robot, urdfXML = null) {
+        const model = new UnifiedRobotModel();
+        model.name = robot.name || 'robot';
+        model.threeObject = robot;
+
+        // Mark model type as URDF
+        if (!robot.userData) robot.userData = {};
+        robot.userData.type = 'urdf';
+
+        if (!robot.links || !robot.joints) {
+            console.warn('URDF model missing links or joints information');
+            return model;
+        }
+
+        // If XML provided, parse inertial data
+        let inertialData = {};
+        if (urdfXML) {
+            inertialData = this.parseInertialFromXML(urdfXML);
+        }
+
+        // Convert links
+        Object.values(robot.links).forEach(urdfLink => {
+            const link = this.convertLink(urdfLink);
+
+            // If urdf-loader didn't parse inertial, get from XML
+            if (!link.inertial && inertialData[urdfLink.name]) {
+                link.inertial = inertialData[urdfLink.name];
+            }
+
+            model.addLink(link);
+        });
+
+        // Convert joints
+        Object.values(robot.joints).forEach(urdfJoint => {
+            const joint = this.convertJoint(urdfJoint);
+            model.addJoint(joint);
+        });
+
+        // If XML provided, supplement effort and velocity from XML (urdf-loaders may not have parsed)
+        if (urdfXML) {
+            this.supplementJointLimitsFromXML(model, urdfXML);
+        }
+
+        // Find root link (link that is not a child of any joint)
+        const allChildren = new Set(
+            Array.from(model.joints.values()).map(j => j.child).filter(c => c)
+        );
+        const rootLinks = Array.from(model.links.keys()).filter(
+            name => !allChildren.has(name)
+        );
+        if (rootLinks.length > 0) {
+            model.rootLink = rootLinks[0];
+        }
+
+        // Enhance materials for better lighting (MuJoCo style)
+        this.enhanceMaterials(robot);
+
+        return model;
+    }
+
+    /**
+     * Enhance materials for better lighting (MuJoCo style)
+     * Applies consistent shininess and specular properties to all materials
+     * Directly modifies materials in place to ensure changes persist
+     */
+    static enhanceMaterials(robotObject) {
+        robotObject.traverse((child) => {
+            if (child.isMesh && child.material) {
+                // Handle material arrays
+                if (Array.isArray(child.material)) {
+                    child.material = child.material.map(mat => {
+                        return this.enhanceSingleMaterial(mat);
+                    });
+                } else {
+                    child.material = this.enhanceSingleMaterial(child.material);
+                }
+            }
+        });
+    }
+
+    /**
+     * Enhance a single material with better lighting properties
+     * Returns enhanced material (may be cloned or modified in place)
+     * Saves original properties for lighting toggle
+     */
+    static enhanceSingleMaterial(material) {
+        if (material.isMeshPhongMaterial || material.isMeshStandardMaterial) {
+            // Save original properties if not already saved (for lighting toggle)
+            if (material.userData.originalShininess === undefined) {
+                material.userData.originalShininess = material.shininess !== undefined ? material.shininess : 30;
+                // IMPORTANT: Save original color to preserve URDF material colors
+                if (!material.userData.originalColor && material.color) {
+                    material.userData.originalColor = material.color.clone();
+                }
+                // Save original specular - if material had no specular, save null
+                if (!material.specular) {
+                    material.userData.originalSpecular = null;
+                } else if (material.specular.isColor) {
+                    const spec = material.specular;
+                    if (spec.r < 0.1 && spec.g < 0.1 && spec.b < 0.1) {
+                        material.userData.originalSpecular = null; // Likely default
+                    } else {
+                        material.userData.originalSpecular = spec.clone();
+                    }
+                } else if (typeof material.specular === 'number') {
+                    if (material.specular === 0x111111 || material.specular < 0x111111) {
+                        material.userData.originalSpecular = null;
+                    } else {
+                        material.userData.originalSpecular = new THREE.Color(material.specular);
+                    }
+                } else {
+                    material.userData.originalSpecular = null;
+                }
+            }
+
+            // IMPORTANT: Preserve original color from URDF material definitions
+            // Do not modify material.color - urdf-loaders already sets the correct color
+
+            // Apply enhanced lighting (default enabled)
+            // Increase shininess for better highlights
+            if (material.shininess === undefined || material.shininess < 50) {
+                material.shininess = 50;
+            }
+
+            // Enhance specular reflection - ensure it's a Color object with proper values
+            if (!material.specular) {
+                material.specular = new THREE.Color(0.3, 0.3, 0.3);
+            } else if (material.specular.isColor) {
+                // If it's already a Color object, update values
+                if (material.specular.r < 0.2 || material.specular.g < 0.2 || material.specular.b < 0.2) {
+                    material.specular.setRGB(0.3, 0.3, 0.3);
+                }
+            } else if (typeof material.specular === 'number') {
+                // Convert number to Color object
+                if (material.specular < 0x333333) {
+                    material.specular = new THREE.Color(0.3, 0.3, 0.3);
+                } else {
+                    // Convert hex to Color
+                    material.specular = new THREE.Color(material.specular);
+                    if (material.specular.r < 0.2) {
+                        material.specular.setRGB(0.3, 0.3, 0.3);
+                    }
+                }
+            }
+
+            // Mark material as needing update
+            material.needsUpdate = true;
+            return material;
+        } else if (material.type === 'MeshBasicMaterial') {
+            // Convert MeshBasicMaterial to MeshPhongMaterial
+            const oldMaterial = material;
+            const envMap = typeof window !== 'undefined' && window.app?.sceneManager?.environmentManager?.getEnvironmentMap();
+            const newMaterial = new THREE.MeshPhongMaterial({
+                color: oldMaterial.color,
+                map: oldMaterial.map,
+                transparent: oldMaterial.transparent,
+                opacity: oldMaterial.opacity,
+                side: oldMaterial.side,
+                shininess: 50,
+                specular: new THREE.Color(0.3, 0.3, 0.3),
+                envMap: envMap || null,
+                reflectivity: envMap ? 0.3 : 0
+            });
+            // Save original properties for lighting toggle
+            newMaterial.userData.originalShininess = 30;
+            newMaterial.userData.originalSpecular = null; // MeshBasicMaterial had no specular
+            return newMaterial;
+        }
+
+        return material;
+    }
+
+    static convertLink(urdfLink) {
+        const link = new Link(urdfLink.name);
+        link.threeObject = urdfLink;
+
+        // Convert inertial properties
+        if (urdfLink.inertial) {
+            link.inertial = this.convertInertial(urdfLink.inertial);
+        }
+
+        // Note: urdf-loaders has already converted visual and collision to Three.js objects
+        // We mainly extract metadata, actual meshes are in threeObject
+
+        return link;
+    }
+
+    static convertJoint(urdfJoint) {
+        // URDF joint object has jointType property (not type)
+        const jointType = urdfJoint.jointType || urdfJoint.type || 'fixed';
+        const joint = new Joint(urdfJoint.name, jointType);
+
+        // Extract parent name (urdf-loader returns Three.js object reference)
+        joint.parent = urdfJoint.parent?.name || null;
+
+        // child may not be in urdfJoint.child, but in Three.js children array
+        // In Three.js scene graph, Joint is parent node, Child Link is Joint's child node
+        if (urdfJoint.child && urdfJoint.child.name) {
+            joint.child = urdfJoint.child.name;
+        } else if (urdfJoint.children && urdfJoint.children.length > 0) {
+            // Find Link object from children array
+            const childLink = urdfJoint.children.find(child =>
+                child.isURDFLink || child.type === 'URDFLink'
+            );
+            if (childLink) {
+                joint.child = childLink.name;
+            }
+        }
+
+        joint.threeObject = urdfJoint;
+
+        // Convert origin
+        if (urdfJoint.origin) {
+            joint.origin = {
+                xyz: urdfJoint.origin.xyz || [0, 0, 0],
+                rpy: urdfJoint.origin.rpy || [0, 0, 0]
+            };
+        }
+
+        // Convert axis
+        if (urdfJoint.axis) {
+            joint.axis = { xyz: urdfJoint.axis.xyz || [0, 0, 1] };
+        }
+
+        // Convert limits
+        if (urdfJoint.limit) {
+            joint.limits = this.convertLimits(urdfJoint.limit);
+        }
+
+        // Get current value
+        if (urdfJoint.angle !== undefined) {
+            joint.currentValue = urdfJoint.angle;
+        } else if (urdfJoint.jointValue !== undefined) {
+            joint.currentValue = urdfJoint.jointValue;
+        }
+
+        return joint;
+    }
+
+    static convertLimits(limit) {
+        const limits = new JointLimits();
+        if (limit.lower !== undefined) limits.lower = limit.lower;
+        if (limit.upper !== undefined) limits.upper = limit.upper;
+        if (limit.effort !== undefined) limits.effort = limit.effort;
+        if (limit.velocity !== undefined) limits.velocity = limit.velocity;
+        return limits;
+    }
+
+    /**
+     * Supplement joint effort and velocity information from URDF XML
+     * (because urdf-loaders may not have parsed these attributes)
+     */
+    static supplementJointLimitsFromXML(model, urdfXML) {
+        try {
+            const parser = new DOMParser();
+            const doc = parser.parseFromString(urdfXML, 'text/xml');
+
+            const jointElements = doc.querySelectorAll('joint');
+            jointElements.forEach(jointEl => {
+                const jointName = jointEl.getAttribute('name');
+                const joint = model.joints.get(jointName);
+
+                if (joint) {
+                    const limitEl = jointEl.querySelector('limit');
+                    if (limitEl) {
+                        if (!joint.limits) {
+                            joint.limits = new JointLimits();
+                        }
+
+                        // Read effort and velocity
+                        const effort = limitEl.getAttribute('effort');
+                        const velocity = limitEl.getAttribute('velocity');
+
+                        if (effort !== null) {
+                            joint.limits.effort = parseFloat(effort);
+                        }
+                        if (velocity !== null) {
+                            joint.limits.velocity = parseFloat(velocity);
+                        }
+
+                        // Also ensure lower and upper are correctly set
+                        const lower = limitEl.getAttribute('lower');
+                        const upper = limitEl.getAttribute('upper');
+                        if (lower !== null) {
+                            joint.limits.lower = parseFloat(lower);
+                        }
+                        if (upper !== null) {
+                            joint.limits.upper = parseFloat(upper);
+                        }
+                    }
+                }
+            });
+        } catch (error) {
+            console.error('Failed to supplement joint limit information from XML:', error);
+        }
+    }
+
+    static convertInertial(inertial) {
+        const props = new InertialProperties();
+        if (inertial.mass !== undefined) props.mass = inertial.mass;
+        if (inertial.origin) {
+            props.origin = {
+                xyz: inertial.origin.xyz || [0, 0, 0],
+                rpy: inertial.origin.rpy || [0, 0, 0]
+            };
+        }
+        if (inertial.ixx !== undefined) props.ixx = inertial.ixx;
+        if (inertial.iyy !== undefined) props.iyy = inertial.iyy;
+        if (inertial.izz !== undefined) props.izz = inertial.izz;
+        if (inertial.ixy !== undefined) props.ixy = inertial.ixy;
+        if (inertial.ixz !== undefined) props.ixz = inertial.ixz;
+        if (inertial.iyz !== undefined) props.iyz = inertial.iyz;
+        return props;
+    }
+
+    /**
+     * Parse inertial data from URDF XML
+     * @param {string} xmlContent - URDF XML content
+     * @returns {Object} Mapping from link names to inertial data
+     */
+    static parseInertialFromXML(xmlContent) {
+        const inertialData = {};
+
+        try {
+            const parser = new DOMParser();
+            const xmlDoc = parser.parseFromString(xmlContent, 'text/xml');
+
+            // Get all link elements
+            const links = xmlDoc.getElementsByTagName('link');
+
+            for (let i = 0; i < links.length; i++) {
+                const linkElement = links[i];
+                const linkName = linkElement.getAttribute('name');
+
+                // Find inertial element
+                const inertialElement = linkElement.getElementsByTagName('inertial')[0];
+                if (!inertialElement) continue;
+
+                const inertial = new InertialProperties();
+
+                // Parse mass
+                const massElement = inertialElement.getElementsByTagName('mass')[0];
+                if (massElement) {
+                    inertial.mass = parseFloat(massElement.getAttribute('value'));
+                }
+
+                // Parse origin
+                const originElement = inertialElement.getElementsByTagName('origin')[0];
+                if (originElement) {
+                    const xyz = originElement.getAttribute('xyz');
+                    const rpy = originElement.getAttribute('rpy');
+                    inertial.origin = {
+                        xyz: xyz ? xyz.split(' ').map(parseFloat) : [0, 0, 0],
+                        rpy: rpy ? rpy.split(' ').map(parseFloat) : [0, 0, 0]
+                    };
+                } else {
+                    inertial.origin = { xyz: [0, 0, 0], rpy: [0, 0, 0] };
+                }
+
+                // Parse inertia
+                const inertiaElement = inertialElement.getElementsByTagName('inertia')[0];
+                if (inertiaElement) {
+                    inertial.ixx = parseFloat(inertiaElement.getAttribute('ixx')) || 0;
+                    inertial.iyy = parseFloat(inertiaElement.getAttribute('iyy')) || 0;
+                    inertial.izz = parseFloat(inertiaElement.getAttribute('izz')) || 0;
+                    inertial.ixy = parseFloat(inertiaElement.getAttribute('ixy')) || 0;
+                    inertial.ixz = parseFloat(inertiaElement.getAttribute('ixz')) || 0;
+                    inertial.iyz = parseFloat(inertiaElement.getAttribute('iyz')) || 0;
+                }
+
+                inertialData[linkName] = inertial;
+            }
+        } catch (error) {
+            console.error('Failed to parse URDF XML inertial data:', error);
+        }
+
+        return inertialData;
+    }
+
+    /**
+     * Set joint angle (using urdf-loaders' setJointValue method)
+     * Reference URDFClasses.js setJointValue implementation
+     */
+    static setJointAngle(joint, angle, ignoreLimits = false) {
+        joint.currentValue = angle;
+
+        // URDF format: use urdf-loader's setJointValue method
+        if (joint.threeObject) {
+            // If ignoring limits, temporarily modify URDF joint object's limit values
+            let originalLimits = null;
+            if (ignoreLimits && joint.threeObject.limit) {
+                originalLimits = {
+                    lower: joint.threeObject.limit.lower,
+                    upper: joint.threeObject.limit.upper
+                };
+                joint.threeObject.limit.lower = -Math.PI * 2;
+                joint.threeObject.limit.upper = Math.PI * 2;
+            }
+
+            // Prefer setJointValue method (urdf-loader's standard method)
+            if (typeof joint.threeObject.setJointValue === 'function') {
+                joint.threeObject.setJointValue(angle);
+
+                // Restore original limits
+                if (originalLimits && joint.threeObject.limit) {
+                    joint.threeObject.limit.lower = originalLimits.lower;
+                    joint.threeObject.limit.upper = originalLimits.upper;
+                }
+                return;
+            } else if (typeof joint.threeObject.setAngle === 'function') {
+                joint.threeObject.setAngle(angle);
+
+                // Restore original limits
+                if (originalLimits && joint.threeObject.limit) {
+                    joint.threeObject.limit.lower = originalLimits.lower;
+                    joint.threeObject.limit.upper = originalLimits.upper;
+                }
+                return;
+            }
+
+            // Restore original limits (if none of the above methods executed)
+            if (originalLimits && joint.threeObject.limit) {
+                joint.threeObject.limit.lower = originalLimits.lower;
+                joint.threeObject.limit.upper = originalLimits.upper;
+            }
+
+            // If none available, manually set rotation
+            // Note: For URDF, we usually shouldn't reach here, as urdf-loader should provide setJointValue
+            console.warn(`Joint ${joint.name} has no setJointValue or setAngle method, attempting manual setup`);
+            if (joint.type === 'revolute' || joint.type === 'continuous') {
+                const axis = joint.axis ? new THREE.Vector3(...joint.axis.xyz).normalize() : new THREE.Vector3(0, 0, 1);
+                // Note: joint.threeObject may not be a Three.js object, cannot directly set rotation
+                if (joint.threeObject.rotation) {
+                    joint.threeObject.rotation.setFromAxisAngle(axis, angle);
+                }
+            } else if (joint.type === 'prismatic') {
+                const axis = joint.axis ? new THREE.Vector3(...joint.axis.xyz).normalize() : new THREE.Vector3(1, 0, 0);
+                if (joint.threeObject.position) {
+                    joint.threeObject.position.copy(axis.multiplyScalar(angle));
+                }
+            }
+        } else {
+            console.warn(`Joint ${joint.name} has no threeObject`);
+        }
+    }
+}
+

src/adapters/XacroAdapter.js

@@ -0,0 +1,616 @@
+/**
+ * Xacro Adapter
+ *
+ * Parses ROS Xacro files and converts them to URDF format using xacro-parser.
+ *
+ * Supported Features:
+ * - Property definitions and substitutions (xacro:property)
+ * - Macro definitions with parameters (xacro:macro)
+ * - Conditional blocks (xacro:if, xacro:unless)
+ * - File inclusions (xacro:include) with package:// and relative paths
+ * - Python-style boolean constants (True/False)
+ * - Arithmetic expressions and property evaluation
+ *
+ * Compatibility:
+ * - ROS Jade and later (inOrder=true, requirePrefix=true, localProperties=true)
+ * - Automatically injects True/False constants for compatibility with ROS xacro files
+ *
+ * Usage:
+ * - Upload all related xacro files (main file and included files)
+ * - The adapter automatically resolves file inclusions from the uploaded file map
+ * - Mesh files are resolved using package:// paths or relative paths
+ */
+import { XacroParser } from 'xacro-parser';
+import { URDFAdapter } from './URDFAdapter.js';
+
+export class XacroAdapter {
+    /**
+     * Parse xacro content and convert to unified model
+     * @param {string} xacroContent - Xacro file content
+     * @param {string} fileName - Xacro file name (for working path)
+     * @param {Map} fileMap - File map (path -> File object)
+     * @param {File} file - Original file object (optional)
+     * @returns {Promise<UnifiedRobotModel>}
+     */
+    static async parse(xacroContent, fileName, fileMap = null, file = null) {
+        try {
+            // Create xacro parser
+            const parser = new XacroParser();
+
+            // Configure parser for ROS Jade and later (default settings)
+            parser.inOrder = true;
+            parser.requirePrefix = true;
+            parser.localProperties = true;
+
+            // Set working path (directory where xacro file is located)
+            const workingPath = fileName.includes('/')
+                ? fileName.substring(0, fileName.lastIndexOf('/') + 1)
+                : '';
+            parser.workingPath = workingPath;
+
+            // Inject Python-style boolean constants as xacro properties
+            // Some xacro files use True/False (capitalized) in conditions
+            xacroContent = this.injectBooleanConstants(xacroContent);
+
+            // Extract and set xacro arguments with their default values
+            // Also add common ROS arguments that might be used without definition
+            const xacroArgs = this.extractXacroArguments(xacroContent);
+
+            // Add common ROS arguments with sensible defaults if not already defined
+            if (!xacroArgs.hasOwnProperty('DEBUG')) {
+                xacroArgs.DEBUG = 'false';
+            }
+            if (!xacroArgs.hasOwnProperty('SELF_COLLIDE')) {
+                xacroArgs.SELF_COLLIDE = 'false';
+            }
+
+            parser.arguments = xacroArgs;
+
+            // If fileMap provided, setup custom file loader
+            if (fileMap) {
+                parser.getFileContents = async (path) => {
+                    return await this.loadFileFromMap(path, fileMap, workingPath);
+                };
+            }
+
+            // Parse xacro to URDF XML
+            const urdfXML = await parser.parse(xacroContent);
+
+
+            // Convert XMLDocument to string
+            const serializer = new XMLSerializer();
+            let urdfString = serializer.serializeToString(urdfXML);
+
+            // Clean up the XML string - remove empty xmlns attributes that might cause issues
+            urdfString = urdfString.replace(/\sxmlns=""/g, '');
+
+            // Re-parse the URDF string with DOMParser to create a clean XMLDocument
+            // This removes any xacro-specific nodes that urdf-loader might not handle
+            const domParser = new DOMParser();
+            const cleanUrdfXML = domParser.parseFromString(urdfString, 'text/xml');
+
+            // Check for parsing errors
+            const parseError = cleanUrdfXML.querySelector('parsererror');
+            if (parseError) {
+                throw new Error('Generated URDF has invalid XML: ' + parseError.textContent);
+            }
+
+            // Remove problematic elements that urdf-loader might not handle well
+            // Remove gazebo elements (plugins, sensors, etc.)
+            const gazeboElements = cleanUrdfXML.querySelectorAll('gazebo');
+            gazeboElements.forEach(el => el.parentNode?.removeChild(el));
+
+            // Remove transmission elements (these are for Gazebo/ROS control)
+            const transmissionElements = cleanUrdfXML.querySelectorAll('transmission');
+            transmissionElements.forEach(el => el.parentNode?.removeChild(el));
+
+            // Remove visual/collision elements with empty geometry tags
+            this.removeEmptyGeometry(cleanUrdfXML);
+
+            // Clean up empty text nodes and comments that might cause issues
+            this.cleanXMLNodes(cleanUrdfXML.documentElement);
+
+            // Convert the clean XMLDocument back to string for URDFLoader
+            const finalUrdfString = serializer.serializeToString(cleanUrdfXML);
+
+            // Now use existing URDF loading infrastructure
+            // Import URDFLoader dynamically
+            const urdfModule = await import('urdf-loader');
+            const URDFLoader = urdfModule.URDFLoader || urdfModule.default || urdfModule;
+
+            return new Promise((resolve, reject) => {
+                const loader = new URDFLoader();
+                loader.parseCollision = true;
+
+                // Extract directory where URDF file is located
+                const urdfDir = workingPath;
+
+                // If file map provided, setup resource loader (same as URDF loading)
+                if (fileMap) {
+                    // Parse URDF content, find all used package names
+                    const packages = this.extractPackagesFromURDF(finalUrdfString);
+
+                    // Build package map
+                    const packageMap = {};
+                    packages.forEach(pkg => {
+                        packageMap[pkg] = pkg;
+                    });
+                    packageMap[''] = '';
+
+                    loader.packages = packageMap;
+
+                    // Set URL Modifier (same as URDF loading)
+                    const urlModifier = (url) => {
+                        // Handle blob URLs
+                        if (url.startsWith('blob:')) {
+                            const blobMatch = url.match(/^blob:https?:\/\/[^\/]+\/(.+)$/);
+                            if (blobMatch && blobMatch[1]) {
+                                const fileName = blobMatch[1];
+                                if (/\.(jpg|jpeg|png|gif|bmp|tga|tiff|webp|dae|stl|obj|gltf|glb)$/i.test(fileName)) {
+                                    url = fileName;
+                                } else {
+                                    return url;
+                                }
+                            } else {
+                                return url;
+                            }
+                        }
+
+                        const isTextureFile = /\.(jpg|jpeg|png|gif|bmp|tga|tiff|webp)$/i.test(url);
+                        const isMeshFile = /\.(dae|stl|obj|gltf|glb)$/i.test(url);
+
+                        let meshPath = url;
+
+                        // Remove http:// or https:// prefix
+                        if (meshPath.startsWith('http://') || meshPath.startsWith('https://')) {
+                            try {
+                                const urlObj = new URL(meshPath);
+                                meshPath = urlObj.pathname;
+                                if (meshPath.startsWith('/')) {
+                                    meshPath = meshPath.substring(1);
+                                }
+                            } catch (e) {
+                                // Invalid URL, use as-is
+                            }
+                        }
+
+                        // Remove package:// prefix
+                        if (meshPath.startsWith('package://')) {
+                            meshPath = meshPath.replace(/^package:\/\//, '');
+                            const parts = meshPath.split('/');
+                            if (parts.length > 1) {
+                                meshPath = parts.slice(1).join('/');
+                            }
+                        }
+
+                        // Remove leading ./
+                        meshPath = meshPath.replace(/^\.\//, '');
+
+                        // Handle relative paths
+                        let normalizedPath = meshPath;
+                        if (meshPath.includes('../')) {
+                            const parts = meshPath.split('/');
+                            const resolvedParts = [];
+                            for (const part of parts) {
+                                if (part === '..') {
+                                    resolvedParts.pop();
+                                } else if (part !== '.' && part !== '') {
+                                    resolvedParts.push(part);
+                                }
+                            }
+                            normalizedPath = resolvedParts.join('/');
+                        }
+
+                        // Build full path
+                        const fullPath = urdfDir + normalizedPath;
+                        const altPath = urdfDir + meshPath;
+
+                        // Find file in fileMap
+                        let matchedFile = fileMap.get(fullPath);
+
+                        if (!matchedFile && altPath !== fullPath) {
+                            matchedFile = fileMap.get(altPath);
+                        }
+
+                        if (!matchedFile) {
+                            matchedFile = fileMap.get(normalizedPath);
+                        }
+
+                        if (!matchedFile) {
+                            matchedFile = fileMap.get(meshPath);
+                        }
+
+                        if (!matchedFile) {
+                            const targetFileName = normalizedPath.split('/').pop() || meshPath.split('/').pop();
+                            for (const [key, file] of fileMap.entries()) {
+                                const keyFileName = key.split('/').pop();
+                                if (keyFileName === targetFileName) {
+                                    matchedFile = file;
+                                    break;
+                                }
+                            }
+                        }
+
+                        if (matchedFile) {
+                            const bloburl = URL.createObjectURL(matchedFile);
+                            return bloburl;
+                        }
+
+                        return url;
+                    };
+
+                    loader.manager.setURLModifier(urlModifier);
+
+                    // Custom loadMeshCb (same as URDF loading)
+                    const originalLoadMeshCb = loader.loadMeshCb || loader.defaultMeshLoader.bind(loader);
+                    loader.loadMeshCb = (path, manager, done) => {
+                        this.findFileInMapByPath(path, fileMap, urdfDir).then(file => {
+                            if (file) {
+                                const ext = (file.name || path).toLowerCase().split('.').pop();
+                                this.loadMeshFileAsync(file, ext, manager).then(meshObject => {
+                                    if (meshObject) {
+                                        done(meshObject, null);
+                                    } else {
+                                        done(null, new Error(`Failed to load mesh file: ${path}`));
+                                    }
+                                }).catch(err => {
+                                    console.error(`Failed to load mesh: ${path}`, err);
+                                    done(null, err);
+                                });
+                            } else {
+                                let stlPath = path
+                                stlPath = stlPath.replace('file:///', 'inspection/elfin10')
+                                originalLoadMeshCb(path, manager, done);
+                            }
+                        }).catch(error => {
+                            console.error(`Failed to find file: ${path}`, error);
+                            originalLoadMeshCb(path, manager, done);
+                        });
+                    };
+                }
+
+                // Create temporary URL for URDF content
+                const blob = new Blob([finalUrdfString], { type: 'text/xml' });
+                const url = URL.createObjectURL(blob);
+
+                loader.load(url, (robot) => {
+                    URL.revokeObjectURL(url);
+
+                    // Convert to unified model using URDFAdapter
+                    try {
+                        const model = URDFAdapter.convert(robot, finalUrdfString);
+                        resolve(model);
+                    } catch (error) {
+                        console.error('[XacroAdapter] URDF conversion error:', error);
+                        reject(new Error('URDF conversion failed: ' + error.message));
+                    }
+                }, undefined, (error) => {
+                    URL.revokeObjectURL(url);
+                    console.error('[XacroAdapter] URDF loading error:', error);
+                    reject(new Error('URDF loading failed: ' + (error.message || error)));
+                });
+            });
+        } catch (error) {
+            console.error('[XacroAdapter] Xacro parsing error:', error);
+            throw new Error('Xacro parsing failed: ' + error.message);
+        }
+    }
+
+    /**
+     * Load file from fileMap for xacro includes
+     * @param {string} path - File path
+     * @param {Map} fileMap - File map
+     * @param {string} workingPath - Working directory
+     * @returns {Promise<string>}
+     */
+    static async loadFileFromMap(path, fileMap, workingPath) {
+        // Clean path - remove leading slash if present
+        let cleanPath = path;
+        // if (cleanPath.startsWith('/')) {
+        //     cleanPath = cleanPath.substring(1);
+        // }
+
+        // // Remove leading ./
+        // cleanPath = cleanPath.replace(/^\.\//, '');
+        cleanPath = cleanPath.split('///')[1];
+        // Try different path combinations
+        const possiblePaths = [
+            cleanPath,
+            workingPath + cleanPath,
+            path,
+            workingPath + path.replace(/^\/+/, ''),
+            // Also try without the first directory component
+            cleanPath.includes('/') ? cleanPath.substring(cleanPath.indexOf('/') + 1) : cleanPath,
+        ];
+
+        // Try each path
+        for (const tryPath of possiblePaths) {
+            const file = fileMap.get(tryPath);
+            if (file) {
+                const content = await file.text();
+                return content;
+            }
+        }
+
+        // Try filename only match
+        const fileName = cleanPath.split('/').pop();
+        for (const [key, file] of fileMap.entries()) {
+            const keyFileName = key.split('/').pop();
+            if (keyFileName === fileName) {
+                const content = await file.text();
+                return content;
+            }
+        }
+
+        console.error('[XacroAdapter] Cannot find included file:', path);
+        throw new Error(`Cannot find included file: ${path}`);
+    }
+
+    /**
+     * Remove visual/collision elements with empty geometry tags
+     * xacro-parser may not fully expand conditional geometry (xacro:if)
+     * We'll just remove these empty visual elements rather than try to fix them
+     * @param {XMLDocument} xmlDoc - XML document to clean
+     */
+    static removeEmptyGeometry(xmlDoc) {
+        // Find all geometry elements
+        const geometryElements = xmlDoc.querySelectorAll('geometry');
+
+        geometryElements.forEach(geom => {
+            // Check if geometry is empty (no child elements)
+            if (!geom.children || geom.children.length === 0) {
+                // Find the parent visual or collision element
+                let parent = geom.parentNode;
+                if (parent) {
+                    const grandParent = parent.parentNode;
+                    if (grandParent) {
+                        if (parent.nodeName === 'visual' || parent.nodeName === 'collision') {
+                            // Remove empty visual/collision elements
+                            grandParent.removeChild(parent);
+                        }
+                    }
+                }
+            }
+        });
+    }
+
+    /**
+     * Recursively clean XML nodes - remove empty text nodes and comments
+     * @param {Element} element - Element to clean
+     */
+    static cleanXMLNodes(element) {
+        if (!element || !element.childNodes) return;
+
+        const nodesToRemove = [];
+
+        // Collect nodes to remove
+        for (let i = 0; i < element.childNodes.length; i++) {
+            const node = element.childNodes[i];
+
+            // Remove comments
+            if (node.nodeType === Node.COMMENT_NODE) {
+                nodesToRemove.push(node);
+            }
+            // Remove empty or whitespace-only text nodes
+            else if (node.nodeType === Node.TEXT_NODE) {
+                if (!node.nodeValue || node.nodeValue.trim() === '') {
+                    nodesToRemove.push(node);
+                }
+            }
+            // Recursively clean element nodes
+            else if (node.nodeType === Node.ELEMENT_NODE) {
+                this.cleanXMLNodes(node);
+            }
+        }
+
+        // Remove collected nodes
+        nodesToRemove.forEach(node => {
+            element.removeChild(node);
+        });
+    }
+
+    /**
+     * Extract package names from URDF content
+     * @param {string} urdfContent - URDF content
+     * @returns {Set<string>}
+     */
+    static extractPackagesFromURDF(urdfContent) {
+        const packages = new Set();
+        const packageRegex = /package:\/\/([^\/]+)/g;
+        let match;
+        while ((match = packageRegex.exec(urdfContent)) !== null) {
+            packages.add(match[1]);
+        }
+        return packages;
+    }
+
+    /**
+     * Find file in fileMap by path
+     * @param {string} path - File path
+     * @param {Map} fileMap - File map
+     * @param {string} urdfDir - URDF directory
+     * @returns {Promise<File|null>}
+     */
+    static async findFileInMapByPath(path, fileMap, urdfDir) {
+        let meshPath = path;
+
+        // Remove blob: prefix
+        meshPath = meshPath.replace(/^blob:[^\/]+\//, '');
+
+        // Remove package:// prefix
+        if (meshPath.startsWith('package://')) {
+            meshPath = meshPath.replace(/^package:\/\//, '');
+            const parts = meshPath.split('/');
+            if (parts.length > 1) {
+                meshPath = parts.slice(1).join('/');
+            }
+        }
+
+        // Remove leading ./
+        meshPath = meshPath.replace(/^\.\//, '');
+
+        // Build full path
+        const fullPath = urdfDir + meshPath;
+
+        // Try full path
+        let file = fileMap.get(fullPath);
+        if (file) return file;
+
+        // Try path without directory
+        file = fileMap.get(meshPath);
+        if (file) return file;
+
+        // Try filename match
+        const targetFileName = meshPath.split('/').pop();
+        for (const [key, f] of fileMap.entries()) {
+            const keyFileName = key.split('/').pop();
+            if (keyFileName === targetFileName) {
+                return f;
+            }
+        }
+
+        return null;
+    }
+
+    /**
+     * Load mesh file asynchronously
+     * @param {File} file - File object
+     * @param {string} ext - File extension
+     * @param {THREE.LoadingManager} manager - Loading manager
+     * @returns {Promise<THREE.Object3D>}
+     */
+    static async loadMeshFileAsync(file, ext, manager) {
+        const THREE = await import('three');
+        const blobUrl = URL.createObjectURL(file);
+
+        try {
+            let meshObject = null;
+
+            switch (ext) {
+                case 'stl': {
+                    const { STLLoader } = await import('three/examples/jsm/loaders/STLLoader.js');
+                    const stlLoader = new STLLoader(manager);
+                    const stlGeometry = await new Promise((resolve, reject) => {
+                        stlLoader.load(blobUrl, resolve, undefined, reject);
+                    });
+                    const stlMaterial = new THREE.MeshPhongMaterial();
+                    meshObject = new THREE.Mesh(stlGeometry, stlMaterial);
+                    break;
+                }
+
+                case 'dae': {
+                    const { ColladaLoader } = await import('three/examples/jsm/loaders/ColladaLoader.js');
+                    const colladaLoader = new ColladaLoader(manager);
+                    const colladaModel = await new Promise((resolve, reject) => {
+                        colladaLoader.load(blobUrl, resolve, undefined, reject);
+                    });
+                    meshObject = colladaModel.scene;
+
+                    // Remove lights
+                    if (meshObject && meshObject.traverse) {
+                        const lightsToRemove = [];
+                        meshObject.traverse(child => {
+                            if (child.isLight) {
+                                lightsToRemove.push(child);
+                            }
+                        });
+                        lightsToRemove.forEach(light => {
+                            if (light.parent) {
+                                light.parent.remove(light);
+                            }
+                        });
+                    }
+                    break;
+                }
+
+                case 'obj': {
+                    const { OBJLoader } = await import('three/examples/jsm/loaders/OBJLoader.js');
+                    const objLoader = new OBJLoader(manager);
+                    meshObject = await new Promise((resolve, reject) => {
+                        objLoader.load(blobUrl, resolve, undefined, reject);
+                    });
+                    break;
+                }
+
+                case 'gltf':
+                case 'glb': {
+                    const { GLTFLoader } = await import('three/examples/jsm/loaders/GLTFLoader.js');
+                    const gltfLoader = new GLTFLoader(manager);
+                    const gltfModel = await new Promise((resolve, reject) => {
+                        gltfLoader.load(blobUrl, resolve, undefined, reject);
+                    });
+                    meshObject = gltfModel.scene;
+                    break;
+                }
+
+                default:
+                    console.warn(`Unsupported file format: ${ext}`);
+                    URL.revokeObjectURL(blobUrl);
+                    return null;
+            }
+
+            URL.revokeObjectURL(blobUrl);
+            return meshObject;
+        } catch (error) {
+            URL.revokeObjectURL(blobUrl);
+            console.error(`Failed to load mesh file: ${file.name}`, error);
+            throw error;
+        }
+    }
+
+    /**
+     * Inject Python-style boolean constants (True/False) into xacro content
+     * Some xacro files use capitalized True/False in conditional expressions
+     * The parameters are passed as strings ("True", "False") but compared to constants
+     * We define the constants to match the string values for comparison to work
+     * @param {string} xacroContent - Original xacro content
+     * @returns {string} - Modified xacro content with boolean constants defined
+     */
+    static injectBooleanConstants(xacroContent) {
+        // Find the robot tag opening
+        const robotTagMatch = xacroContent.match(/(<robot[^>]*>)/);
+        if (!robotTagMatch) {
+            return xacroContent;
+        }
+
+        // Define True/False as string properties for comparison
+        // When mirror_dae="True" is passed, it becomes the string "True"
+        // We want ${mirror_dae == True} to work, so True must also be "True"
+        const booleanProperties = `
+    <!-- Injected by XacroAdapter: Python-style boolean constants -->
+    <xacro:property name="True" value="True"/>
+    <xacro:property name="False" value="False"/>
+`;
+
+        const insertPosition = robotTagMatch.index + robotTagMatch[0].length;
+        return xacroContent.substring(0, insertPosition) +
+               booleanProperties +
+               xacroContent.substring(insertPosition);
+    }
+
+    /**
+     * Extract xacro arguments and their default values from xacro content
+     * Xacro files can define arguments using <xacro:arg name="..." default="..."/>
+     * These need to be provided to the parser via parser.arguments
+     * @param {string} xacroContent - Xacro file content
+     * @returns {Object} - Object with argument names as keys and default values
+     */
+    static extractXacroArguments(xacroContent) {
+        const args = {};
+
+        // Match <xacro:arg name="NAME" default="VALUE"/>
+        // Also match <arg name="NAME" default="VALUE"/> (without xacro: prefix)
+        const argPattern = /<(?:xacro:)?arg\s+name=["']([^"']+)["'](?:\s+default=["']([^"']*)["'])?/g;
+
+        let match;
+        while ((match = argPattern.exec(xacroContent)) !== null) {
+            const argName = match[1];
+            const defaultValue = match[2] || 'false'; // Default to 'false' if no default specified
+            args[argName] = defaultValue;
+        }
+
+        return args;
+    }
+}
+
+

src/api/corpusManger/corpus.js

@@ -0,0 +1,46 @@
+import request from '@/utils/request'
+
+export function addCategory(data) {
+    return request({
+        url: '/tts/corpus/category',
+        method: 'post',
+        data: data
+    })
+}
+
+export function getCategoryTreeApi() {
+    return request({
+        url: '/tts/corpus/category/tree',
+        method: 'get'
+    })
+}
+    
+export function updateCategoryTreeApi(data) {
+    return request({
+        url: '/tts/corpus/category',
+        method: 'put',
+        data: data
+    })
+}
+
+export function deleteCategory(id) {
+    return request({
+        url: `/tts/corpus/category/${id}`,
+        method: 'delete',
+    })
+}
+
+export function getCorpusListApi(params) {
+    return request({
+        url: '/tts/corpus/list',
+        method: 'get',
+        params: params
+    })
+}
+
+export function getDashboardApi() {
+    return request({
+        url: '/tts/corpus/dashboard/stats',
+        method: 'get'
+    })
+}

src/api/corpusManger/speech_synthesis.js

@@ -0,0 +1,69 @@
+import request from '@/utils/request'
+
+export function taskApi(data) {
+    return request({
+        url: '/tts/task',
+        method: 'post',
+        data: data
+    })
+}
+
+export function taskListApi(params) {
+    return request({
+        url: '/tts/task/list',
+        method: 'get',
+        params: params
+    })
+}
+
+export function getDashboardApi(params) {
+    return request({
+        url: '/tts/task/dashboard/stats',
+        method: 'get'
+    })
+}
+
+export function downloadWavApi(id) {
+    return request({
+        url: `/tts/task/audio/${id}`,
+        method: 'get',
+        responseType: 'blob'
+    })
+}
+
+export function deleteTask(ids) {
+    return request({
+        url: `/tts/task/${ids}`,
+        method: 'delete'
+    })
+}
+
+export function regenerateApi(id) {
+    return request({
+        url: `/tts/task/regenerate/${id}`,
+        method: 'post'
+    })
+}
+
+export function generalizationApi(data) {
+    return request({
+        url: '/tts/task/llm/query',
+        method: 'post',
+        data: data
+    })
+}
+
+export function batchTaskApi(data) {
+    return request({
+        url: '/tts/task/batch',
+        method: 'post',
+        data: data
+    })
+}
+
+export function saveTaskApi(data) {
+    return request({
+        url: `/tts/task/save-to-corpus/${data.taskId}/${data.categoryId}`,
+        method: 'post'
+    })
+}

src/api/device/arm.js

@@ -16,3 +16,11 @@ export function status(data) {
         data: data
     })
 }
+
+export function clearFault(params) {
+    return request({
+        url: '/api/arm/clearFault',
+        method: 'get',
+        params
+    })
+}

src/api/device/camera.js

@@ -0,0 +1,9 @@
+import request from '@/utils/request'
+
+export function getRgbStreamUrl(robotId, deviceId) {
+  return request({
+    url: '/api/edge/camera/rgb-stream-url',
+    method: 'get',
+    params: { robotId, deviceId }
+  })
+}

src/api/device/profile.js

@@ -1,45 +0,0 @@
-import request from '@/utils/request'
-
-// 查询设备配置信息列表
-export function listProfile(query) {
-    return request({
-        url: '/device/profile/list',
-        method: 'get',
-        params: query
-    })
-}
-
-// 查询设备配置信息详细
-export function getProfile(query) {
-    return request({
-        url: '/device/profile/parameterInfo/',
-        method: 'get',
-        params: query
-    })
-}
-
-// 新增设备配置信息
-export function addProfile(data) {
-    return request({
-        url: '/device/profile',
-        method: 'post',
-        data: data
-    })
-}
-
-// 修改设备配置信息
-export function updateProfile(data) {
-    return request({
-        url: '/device/profile',
-        method: 'put',
-        data: data
-    })
-}
-
-// 删除设备配置信息
-export function delProfile(id) {
-    return request({
-        url: '/device/profile/' + id,
-        method: 'delete'
-    })
-}

src/api/device/register.js

@@ -1,146 +0,0 @@
-import request from '@/utils/request'
-
-// 查询设备注册列表
-export function listRegister(query) {
-    return request({
-        url: '/device/register/list',
-        method: 'get',
-        params: query
-    })
-}
-
-// 查询设备注册详细
-export function getRegister(id) {
-    return request({
-        url: '/device/register/' + id,
-        method: 'get'
-    })
-}
-
-// 新增设备注册
-export function addRegister(data) {
-    return request({
-        url: '/device/register',
-        method: 'post',
-        data: data
-    })
-}
-
-// 修改设备注册
-export function updateRegister(data) {
-    return request({
-        url: '/device/register',
-        method: 'put',
-        data: data
-    })
-}
-
-// 删除设备注册
-export function delRegister(id) {
-    return request({
-        url: '/device/register/' + id,
-        method: 'delete'
-    })
-}
-
-// 设备示教
-export function deviceTeach(id) {
-    return request({
-        url: '/device/profile/' + id,
-        method: 'get',
-    })
-}
-
-// 设备示教参数修改
-export function deviceUpdateProfile(data) {
-    return request({
-        url: '/device/profile/updateProfile',
-        method: 'put',
-        data: data,
-    })
-}
-
-// 新增音色
-export function createTimbre(data) {
-    return request({
-        url: '/show/tts/create',
-        method: 'post',
-        headers: {
-            'Content-Type': 'multipart/form-data',
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        data: data,
-    })
-}
-
-// 获取音色
-export function getTts() {
-    return request({
-        url: '/show/tts/query',
-        headers: {
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        method: 'get',
-    })
-}
-
-// 生产语料
-export function createCorpus(data) {
-    return request({
-        url: '/show/tts/corpus',
-        headers: {
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        method: 'post',
-        data: data
-    })
-}
-
-export function getSynthesize(data, config = {}) {
-    return request({
-        url: '/show/tts/synthesize',
-        headers: {
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        responseType: 'blob',
-        method: 'post',
-        data: data
-    }, {
-        ...config
-    })
-}
-
-export function createAdvancedCorpus(data) {
-    return request({
-        url: '/show/tts/corpus/advanced',
-        headers: {
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        method: 'post',
-        data: data
-    })
-}
-
-export function getAdvancedSynthesize(data, config = {}) {
-    return request({
-        url: '/show/tts/synthesize/advanced',
-        headers: {
-            Authorization: 'eyJhbGciOiJIUzUxMiJ9.eyJsb2dpbl91c2VyX2tleSI6ImFiNmEyY2Y0LWM3MjQtNDgyMy1hM2NiLTk4N2NhZWNmMzZiNCJ9.oq-JVRbQuq_ujQ2V0h2jXC3woHPdMQKhnYJ8ixRm-C6Ez4GqJWyHYgmnkw5dbDyhWGdIUH02uv6XT8UiboHD4g',
-            isToken: false
-        },
-        responseType: 'blob',
-        method: 'post',
-        data: data
-    }, {
-        ...config
-    })
-}
-
-export const getFlowById =  (id) => {
-    return request.get(import.meta.env.VITE_NODE_RED_URL + '/flow/' + id, {})
-}

src/api/device/robot.js

@@ -1,44 +0,0 @@
-import request from '@/utils/request'
-
-// 查询机器人配置列表
-export function listRobot(query) {
-  return request({
-    url: '/device/robot/list',
-    method: 'get',
-    params: query
-  })
-}
-
-// 查询机器人配置详细
-export function getRobot(id) {
-  return request({
-    url: '/device/robot/' + id,
-    method: 'get'
-  })
-}
-
-// 新增机器人配置
-export function addRobot(data) {
-  return request({
-    url: '/device/robot',
-    method: 'post',
-    data: data
-  })
-}
-
-// 修改机器人配置
-export function updateRobot(data) {
-  return request({
-    url: '/device/robot',
-    method: 'put',
-    data: data
-  })
-}
-
-// 删除机器人配置
-export function delRobot(id) {
-  return request({
-    url: '/device/robot/' + id,
-    method: 'delete'
-  })
-}

src/api/device/system.js

@@ -0,0 +1,31 @@
+import request from '@/utils/request'
+
+export function getSafetyState(robotId) {
+  return request({
+    url: '/api/system/safetyState',
+    method: 'get',
+    params: { robotId },
+  })
+}
+
+/**
+ * 恢复机器人运行状态；payload 与旧 recoverSafetyState 保持一致，便于调用方渐进迁移。
+ */
+export function restoreOperationalState(data) {
+  return request({
+    url: '/api/system/restoreOperationalState',
+    method: 'post',
+    data,
+  })
+}
+
+/**
+ * @deprecated 请改用 restoreOperationalState，旧接口仅保留给未迁移调用方。
+ */
+export function recoverSafetyState(data) {
+  return request({
+    url: '/api/system/recoverSafetyState',
+    method: 'post',
+    data,
+  })
+}

src/api/device/terminal.js

@@ -1,86 +0,0 @@
-import request from '@/utils/request'
-
-// 查询设备终端配置列表
-export function listTerminal(query) {
-  return request({
-    url: '/device/terminal/list',
-    method: 'get',
-    params: query
-  })
-}
-
-// 查询设备终端配置详细
-export function getTerminal(id) {
-  return request({
-    url: '/device/terminal/' + id,
-    method: 'get'
-  })
-}
-
-// 新增设备终端配置
-export function addTerminal(data) {
-  return request({
-    url: '/device/terminal',
-    method: 'post',
-    data: data
-  })
-}
-
-// 修改设备终端配置
-export function updateTerminal(data) {
-  return request({
-    url: '/device/terminal',
-    method: 'put',
-    data: data
-  })
-}
-
-// 删除设备终端配置
-export function delTerminal(id) {
-  return request({
-    url: '/device/terminal/' + id,
-    method: 'delete'
-  })
-}
-
-// 获取实例信息
-export function getInstInfo(id) {
-  return request({
-    url: '/test/inst/context/' + id,
-    method: 'get'
-  })
-}
-
-// 暂停任务
-export function pauseInst(id) {
-   return request({
-    url: `/test/inst/pause/${id}`,
-    method: 'post'
-  })
-}
-
-// 恢复任务
-export function resumeInst(id) {
-   return request({
-    url: `/test/inst/resume/${id}`,
-    method: 'post'
-  })
-}
-
-// 恢复任务
-export function stopInst(id) {
-   return request({
-    url: `/test/inst/stop/${id}`,
-    method: 'post'
-  })
-}
-
-export function getFlowParamsApi(taskId) {
-  return request({
-    url: '/test/orchestration',
-    method: 'get',
-    params: {
-      taskId
-    }
-  })
-}

src/api/flow/flow.js

@@ -9,6 +9,34 @@ export function flowDeploy(data) {
     })
 }
 
+export function flowSaveDraft(data) {
+    return request({ url: '/flow/draft', method: 'put', data })
+}
+
+export function flowVersionList(itemId) {
+    return request({ url: `/flow/versions/${itemId}`, method: 'get' })
+}
+
+export function flowVersionDetail(versionId) {
+    return request({ url: `/flow/version/${versionId}`, method: 'get' })
+}
+
+export function flowSubFlowOptions(currentItemId) {
+    return request({
+        url: '/flow/subflows',
+        method: 'get',
+        params: { currentItemId }
+    })
+}
+
+export function flowRestoreDraft(versionId, data) {
+    return request({ url: `/flow/version/${versionId}/restore-draft`, method: 'post', data })
+}
+
+export function flowRollbackVersion(versionId, data) {
+    return request({ url: `/flow/version/${versionId}/rollback`, method: 'post', data })
+}
+
 export function flowExecute(data) {
     return request({
         url: '/flow/execute',
@@ -69,3 +97,27 @@ export function getArmStatus(params) {
         params: params
     })
 }
+
+export function getAgvStatus(params) {
+    return request({
+        url: '/api/agv/getRuntimeState',
+        method: 'get',
+        params: params
+    })
+}
+
+export function getAgvStations(params) {
+    return request({
+        url: '/api/agv/listStations',
+        method: 'get',
+        params: params
+    })
+}
+
+export function getArmJointState(params) {
+    return request({
+        url: '/api/arm/getJointState',
+        method: 'get',
+        params: params
+    })
+}

src/api/flow/nodeRed.js

@@ -0,0 +1,5 @@
+import request from '@/utils/request'
+
+export function getNodeRedFlowById(id) {
+  return request.get(`${import.meta.env.VITE_NODE_RED_URL}/flow/${id}`, {})
+}

src/api/inspection/cockpit.js

@@ -0,0 +1,97 @@
+import request from '@/utils/request'
+
+export function getPoseApi(params) {
+    return request({
+        url: '/api/arm/getPose', 
+        method: 'get',
+        params: params
+    })
+}
+
+export function getJointStateApi(params) {
+    return request({
+        url: '/api/arm/getJointState', 
+        method: 'get',
+        params: params
+    })
+}
+
+export function speedLApi(data) {
+    return request({
+        url: '/api/arm/speedL', 
+        method: 'post',
+        data: data
+    })
+}
+
+export function moveJApi(data) {
+    return request({
+        url: '/api/arm/moveJ', 
+        method: 'post',
+        data: data
+    })
+}
+
+export function stopMotionApi(params) {
+    return request({
+        url: '/api/arm/stopMotion', 
+        method: 'get',
+        params: params
+    })
+}
+
+export function torqueOnApi(params) {
+    return request({
+        url: '/api/arm/torqueOn',
+        method: 'get',
+        params: params
+    })
+}
+
+export function speedJApi(data) {
+    return request({
+        url: '/api/arm/speedJ',
+        method: 'post',
+        data: data
+    })
+}
+
+export function clearFault(params) {
+    return request({
+        url: '/api/arm/clearFault',
+        method: 'get',
+        params: params
+    })
+}
+
+export function getMicVolume(params) {
+    return request({
+        url: '/api/Microphone/volume',
+        method: 'get',
+        params: params
+    })
+}
+
+export function setMicVolume(data) {
+    return request({
+        url: '/api/Microphone/volume',
+        method: 'post',
+        data: data
+    })
+}
+
+export function getSpeakerVolume(params) {
+    return request({
+        url: '/api/Speaker/volume',
+        method: 'get',
+        params: params
+    })
+}
+
+export function setSpeakerVolume(data) {
+    return request({
+        url: '/api/Speaker/volume',
+        method: 'post',
+        data: data
+    })
+}

src/api/inspection/map.js

@@ -1,33 +0,0 @@
-import request from '@/utils/request'
-
-
-export function getMapList(params) {
-    return request({
-        url: '/inspection/map/list', 
-        method: 'get',
-        params: params
-    })
-}
-
-export function addMap(data) {
-    return request({
-        url: '/inspection/map',
-        method: 'post',
-        data: data
-    })
-}
-
-export function updateMap(data) {
-    return request({
-        url: '/inspection/map',
-        method: 'put',
-        data: data
-    })
-}
-
-export function deleteMap(id) {
-    return request({
-        url: `/inspection/map/${id}`,
-        method: 'delete'
-    })
-}

src/api/inspection/point.js

@@ -30,3 +30,10 @@ export function deletePoint(id) {
         method: 'delete'
     })
 }
+
+export function copyPoint(id) {
+    return request({
+        url: `/inspection/waypoint/copy/${id}`,
+        method: 'post'
+    })
+}

src/api/inspection/result.js

@@ -0,0 +1,23 @@
+import request from '@/utils/request'
+
+/**
+ * 查询巡检结果列表。
+ */
+export function getInspectionResultList(params) {
+  return request({
+    url: '/inspection/result/list',
+    method: 'get',
+    params
+  })
+}
+
+/**
+ * 提交人工复核结果。
+ */
+export function reviewInspectionResult(id, data) {
+  return request({
+    url: `/inspection/result/${id}/review`,
+    method: 'put',
+    data
+  })
+}

src/api/inspection/robot.js

@@ -1,57 +0,0 @@
-import request from '@/utils/request'
-
-export function getRobotList(params) {
-    return request({
-        url: '/inspection/robot/list', 
-        method: 'get',
-        params: params
-    })
-}
-
-export function addRobot(data) {
-    return request({
-        url: '/inspection/robot',
-        method: 'post',
-        data: data
-    })
-}
-
-export function updateRobot(data) {
-    return request({
-        url: '/inspection/robot',
-        method: 'put',
-        data: data
-    })
-}
-
-export function deleteRobot(id) {
-    return request({
-        url: `/inspection/robot/${id}`,
-        method: 'delete'
-    })
-}
-
-/**
- * 获取机器人地图
- * @param {*} robotId 
- * @returns 
- */
-export function getMapByRobot(robotId) {
-    return request({
-        url: `/inspection/robot/${robotId}/maps`,
-        method: 'get'
-    })
-}
-
-/**
- * 获取地图JSON数据
- * @param {*} params 
- * @returns 
- */
-export function getMapJson(params) {
-    return request({
-        url: `/inspection/robot/${params.robotId}/download-map`,
-        method: 'get',
-        params
-    })
-}

src/api/inspection/runTask.js

@@ -38,10 +38,18 @@ export function deleteRunTask(id) {
     })
 }
 
-export function startRunTask(id) {
+export function startRunTask(id, data) {
     return request({
         url: `/inspection/taskInstance/start/${id}`,
-        method: 'put'
+        method: 'put',
+        data
+    })
+}
+
+export function rerunRunTask(id) {
+    return request({
+        url: `/inspection/taskInstance/rerun/${id}`,
+        method: 'post'
     })
 }
 

src/api/inspection/task.js

@@ -45,3 +45,10 @@ export function bindWaypointsToTask(taskId, waypointIds) {
         data: waypointIds
     })
 }
+
+export function copyTask(id) {
+    return request({
+        url: `/inspection/task/copy/${id}`,
+        method: 'post'
+    })
+}

src/api/intelligenceTest/runningTask.js

@@ -1,5 +1,4 @@
 import request from '@/utils/request'
-import { method } from 'lodash'
 
 export function addTaskinstance(data) {
     return request({
@@ -27,15 +26,23 @@ export function updateTaskinstance(data) {
 
 export function deleteTaskinstance(ids) {
     return request({
-        url: `/aima/taskinstance/{ids}`, 
+        url: `/aima/taskinstance/${ids}`, 
         method: 'delete'
     })
 }
 
-export function startTaskinstance(id) {
+export function startTaskinstance(id, data) {
     return request({
         url: `/aima/taskinstance/start/${id}`,
-        method: 'put'
+        method: 'put',
+        data
+    })
+}
+
+export function rerunTaskinstance(id) {
+    return request({
+        url: `/aima/taskinstance/rerun/${id}`,
+        method: 'post'
     })
 }
 

src/api/intelligenceTest/taskManage.js

@@ -45,3 +45,10 @@ export function bindTastCase(taskId, ids) {
         data: ids
     })
 }
+
+export function copyTask(id) {
+    return request({
+        url: `/aima/task/copy/${id}`,
+        method: 'post'
+    })
+}

src/api/intelligenceTest/testCase.js

@@ -30,3 +30,10 @@ export function deleteTestCase(ids) {
         method: 'delete'
     })
 }
+
+export function copyTestCase(id) {
+    return request({
+        url: `/aima/testcase/copy/${id}`,
+        method: 'post'
+    })
+}

src/api/login.js

@@ -39,6 +39,15 @@ export function getInfo() {
   })
 }
 
+// 解锁屏幕
+export function unlockScreen(password) {
+  return request({
+    url: '/unlockscreen',
+    method: 'post',
+    data: { password }
+  })
+}
+
 // 退出方法
 export function logout() {
   return request({

src/api/resource/device.js

@@ -0,0 +1,13 @@
+import request from '@/utils/request'
+
+export function listResourceDevices(params) {
+  return request({ url: '/resource/devices', method: 'get', params })
+}
+
+export function getResourceDevice(id) {
+  return request({ url: `/resource/devices/${encodeURIComponent(id)}`, method: 'get' })
+}
+
+export function updateResourceDevice(id, data) {
+  return request({ url: `/resource/devices/${encodeURIComponent(id)}`, method: 'put', data })
+}