SmartBench/CMVR-IOT
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remove(layout): 删除布局相关组件和配置文件

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- 删除了 .gitignore 文件中的构建配置
- 移除了 401 和 404 错误页面组件
- 清理了图标资源文件
- 删除了应用主入口 App.vue 文件
- 移除了应用主视图组件 AppMain.vue
- 清理了设备 API 相关文件
- 删除了流程组件 Aside.vue
- 移除了音频播放器组件 AudioPlayer.vue
- 清理了应用状态管理模块 app.js
This commit is contained in:
lixiaolong 2026-08-14 09:10:19 +08:00
parent 519e4de846
commit 1eb1a88870
607 changed files with 0 additions and 75726 deletions
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17
ruoyi-ui/.env.development
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# 页面标题
VITE_APP_TITLE = 招商车研物联网平台管理系统
# 开发环境配置
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://localhost:13080
VITE_WS_URL = ws://localhost:13080/ws
VITE_PORT = 80
# explanation
VITE_INSPECTION_TYPE = "inspection"
VITE_MINIO_URL = "http://192.168.28.10:9000/cmvr-iot/"

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ruoyi-ui/.env.production
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# 页面标题
VITE_APP_TITLE = 招商车研物联网平台管理系统
# 生产环境配置
VITE_APP_ENV = 'production'
# 招商车研物联网平台/生产环境
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/"

13
ruoyi-ui/.env.staging
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# 页面标题
VITE_APP_TITLE = 招商车研物联网平台管理系统
# 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
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

26
ruoyi-ui/.gitignore vendored
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.DS_Store
node_modules/
dist/
npm-debug.log*
yarn-debug.log*
yarn-error.log*
**/*.log
tests/**/coverage/
tests/e2e/reports
selenium-debug.log
# Editor directories and files
.idea
.vscode
*.suo
*.ntvs*
*.njsproj
*.sln
*.local
.history
package-lock.json
yarn.lock
bin/
pnpm-lock.yaml

10
ruoyi-ui/Dockerfile
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FROM node:18
WORKDIR /app
COPY package*.json ./
RUN npm install
COPY . .

17
ruoyi-ui/Dockerfile.frontend
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# 使用官方的 Node.js 镜像作为基础镜像
FROM node:18
# 设置工作目录
WORKDIR /app
# 复制 package.json 和 package-lock.json（如果存在）到工作目录
COPY package*.json ./
# 安装项目依赖
RUN npm install
# 复制项目文件到工作目录
COPY . .
# 构建项目
RUN npm run build

20
ruoyi-ui/LICENSE
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The MIT License (MIT)
Copyright (c) 2018 RuoYi
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
the Software, and to permit persons to whom the Software is furnished to do so,
subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

87
ruoyi-ui/README.md
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# CMVR IoT 管理控制台
本目录是招商车研物联网平台的完整 Vue 3 前端，功能迁移自原 `cmvr-iot-ui`，旧前端目录保持不变。新前端继续使用原有 REST、WebSocket、文件和媒体接口，可直接连接本项目的 `cmvr-iot-admin`。
## 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
- Vue 3.4
- Vite 5.3
- Element Plus 2.9
- Pinia 2
- Vue Router 4
- Axios、ECharts、LogicFlow、Monaco Editor、Three.js、XGPlayer
## 环境要求
- Node.js 18 或 20 LTS
- pnpm 9
- 后端 `cmvr-iot-admin`，默认地址 `http://localhost:13080`
## 开发运行
先启动后端，再执行：
```bash
cd ruoyi-ui
pnpm install
pnpm dev
```
默认地址：
- 前端：`http://localhost:80`
- 后端：`http://localhost:13080`
- 接口文档：`http://localhost:13080/doc.html`
开发代理配置位于 `.env.development`：
```dotenv
VITE_APP_BASE_API=/dev-api
VITE_API_URL=http://localhost:13080
VITE_WS_URL=ws://localhost:13080/ws
VITE_PORT=80
```
## 构建
```bash
pnpm build:dev
pnpm build:staging
pnpm build:prod
```
构建产物位于 `dist`。生产部署时需要由 Nginx 或网关转发 `/prod-api`，并正确处理 `/ws` WebSocket、文件上传和媒体请求。
## 目录说明
```text
src/api REST API 封装
src/assets 样式、图片和图标
src/components 公共组件
src/layout 管理端布局
src/router 公共路由和隐藏业务路由
src/store Pinia 状态管理
src/views/device 设备管理及设备控制
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。新增或调整页面时，需要同步检查数据库菜单中的 `component` 路径、权限字符和前端 `src/views` 实际路径。

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ruoyi-ui/html/ie.html
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215
ruoyi-ui/index.html
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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
<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>
<!--[if lt IE 11]><script>window.location.href='/html/ie.html';</script><![endif]-->
<style>
html,
body,
#app {
height: 100%;
margin: 0px;
padding: 0px;
}
.chromeframe {
margin: 0.2em 0;
background: #ccc;
color: #000;
padding: 0.2em 0;
}
#loader-wrapper {
position: fixed;
top: 0;
left: 0;
width: 100%;
height: 100%;
z-index: 999999;
}
#loader {
display: block;
position: relative;
left: 50%;
top: 50%;
width: 150px;
height: 150px;
margin: -75px 0 0 -75px;
border-radius: 50%;
border: 3px solid transparent;
border-top-color: #FFF;
-webkit-animation: spin 2s linear infinite;
-ms-animation: spin 2s linear infinite;
-moz-animation: spin 2s linear infinite;
-o-animation: spin 2s linear infinite;
animation: spin 2s linear infinite;
z-index: 1001;
}
#loader:before {
content: "";
position: absolute;
top: 5px;
left: 5px;
right: 5px;
bottom: 5px;
border-radius: 50%;
border: 3px solid transparent;
border-top-color: #FFF;
-webkit-animation: spin 3s linear infinite;
-moz-animation: spin 3s linear infinite;
-o-animation: spin 3s linear infinite;
-ms-animation: spin 3s linear infinite;
animation: spin 3s linear infinite;
}
#loader:after {
content: "";
position: absolute;
top: 15px;
left: 15px;
right: 15px;
bottom: 15px;
border-radius: 50%;
border: 3px solid transparent;
border-top-color: #FFF;
-moz-animation: spin 1.5s linear infinite;
-o-animation: spin 1.5s linear infinite;
-ms-animation: spin 1.5s linear infinite;
-webkit-animation: spin 1.5s linear infinite;
animation: spin 1.5s linear infinite;
}
@-webkit-keyframes spin {
0% {
-webkit-transform: rotate(0deg);
-ms-transform: rotate(0deg);
transform: rotate(0deg);
}
100% {
-webkit-transform: rotate(360deg);
-ms-transform: rotate(360deg);
transform: rotate(360deg);
}
}
@keyframes spin {
0% {
-webkit-transform: rotate(0deg);
-ms-transform: rotate(0deg);
transform: rotate(0deg);
}
100% {
-webkit-transform: rotate(360deg);
-ms-transform: rotate(360deg);
transform: rotate(360deg);
}
}
#loader-wrapper .loader-section {
position: fixed;
top: 0;
width: 51%;
height: 100%;
background: #7171C6;
z-index: 1000;
-webkit-transform: translateX(0);
-ms-transform: translateX(0);
transform: translateX(0);
}
#loader-wrapper .loader-section.section-left {
left: 0;
}
#loader-wrapper .loader-section.section-right {
right: 0;
}
.loaded #loader-wrapper .loader-section.section-left {
-webkit-transform: translateX(-100%);
-ms-transform: translateX(-100%);
transform: translateX(-100%);
-webkit-transition: all 0.7s 0.3s cubic-bezier(0.645, 0.045, 0.355, 1.000);
transition: all 0.7s 0.3s cubic-bezier(0.645, 0.045, 0.355, 1.000);
}
.loaded #loader-wrapper .loader-section.section-right {
-webkit-transform: translateX(100%);
-ms-transform: translateX(100%);
transform: translateX(100%);
-webkit-transition: all 0.7s 0.3s cubic-bezier(0.645, 0.045, 0.355, 1.000);
transition: all 0.7s 0.3s cubic-bezier(0.645, 0.045, 0.355, 1.000);
}
.loaded #loader {
opacity: 0;
-webkit-transition: all 0.3s ease-out;
transition: all 0.3s ease-out;
}
.loaded #loader-wrapper {
visibility: hidden;
-webkit-transform: translateY(-100%);
-ms-transform: translateY(-100%);
transform: translateY(-100%);
-webkit-transition: all 0.3s 1s ease-out;
transition: all 0.3s 1s ease-out;
}
.no-js #loader-wrapper {
display: none;
}
.no-js h1 {
color: #222222;
}
#loader-wrapper .load_title {
font-family: 'Open Sans';
color: #FFF;
font-size: 19px;
width: 100%;
text-align: center;
z-index: 9999999999999;
position: absolute;
top: 60%;
opacity: 1;
line-height: 30px;
}
#loader-wrapper .load_title span {
font-weight: normal;
font-style: italic;
font-size: 13px;
color: #FFF;
opacity: 0.5;
}
</style>
</head>
<body>
<div id="app">
<div id="loader-wrapper">
<div id="loader"></div>
<div class="loader-section section-left"></div>
<div class="loader-section section-right"></div>
<div class="load_title">正在加载系统资源，请耐心等待</div>
</div>
</div>
<script type="module" src="/src/main.js"></script>
</body>
</html>

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ruoyi-ui/package.json
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{
"name": "cmvr-iot-ui",
"version": "3.8.8",
"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:staging": "vite build --mode staging --verbose",
"preview": "vite preview"
},
"dependencies": {
"@element-plus/icons-vue": "2.3.1",
"@logicflow/core": "^2.0.13",
"@logicflow/extension": "^2.0.18",
"@vueup/vue-quill": "1.2.0",
"@vueuse/core": "10.11.0",
"ace-builds": "^1.43.0",
"autofit.js": "^3.2.8",
"axios": "0.28.1",
"clipboard": "2.0.11",
"dayjs": "^1.11.13",
"echarts": "5.5.1",
"element-plus": "2.9.4",
"file-saver": "2.0.5",
"fuse.js": "6.6.2",
"js-beautify": "1.14.11",
"js-cookie": "3.0.5",
"jsencrypt": "3.3.2",
"json-editor-vue": "^0.18.1",
"lodash": "^4.17.21",
"mitt": "^3.0.1",
"monaco-editor": "^0.55.1",
"nprogress": "0.2.0",
"pako": "^2.1.0",
"pinia": "2.1.7",
"pnpm": "^10.23.0",
"socket.io-client": "^4.8.1",
"sockjs-client": "^1.6.1",
"splitpanes": "3.1.5",
"three": "^0.181.2",
"urdf-loader": "^0.12.6",
"uuid": "^11.1.0",
"vue": "3.4.31",
"vue-cropper": "1.1.1",
"vue-router": "4.4.0",
"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",
"file-loader": "^6.2.0",
"sass": "1.77.5",
"unplugin-auto-import": "0.17.6",
"unplugin-vue-setup-extend-plus": "1.0.1",
"vite": "5.3.2",
"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"
}

6
ruoyi-ui/pnpm-workspace.yaml
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allowBuilds:
core-js: true
es5-ext: true
esbuild: true
json-editor-vue: true
vue-demi: true

54
ruoyi-ui/public/bot.svg
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<svg
viewBox="0 0 22 22"
xmlns="http://www.w3.org/2000/svg"
fill="none"
>
<rect width="22" height="22" x="0" y="0" />
<path
d="M11 7.33335L11 3.66669L7.33331 3.66669"
fill-rule="nonzero"
stroke="currentColor"
stroke-linecap="round"
stroke-linejoin="round"
stroke-width="1.833333"
/>
<rect
width="14.666667"
height="11.000000"
x="3.666687"
y="7.333344"
rx="1.833333"
stroke="currentColor"
stroke-linecap="round"
stroke-linejoin="round"
stroke-width="1.833333"
/>
<path
d="M1.83331 12.8333L3.66665 12.8333"
stroke="currentColor"
stroke-linecap="round"
stroke-linejoin="round"
stroke-width="1.833333"
/>
<path
d="M18.3333 12.8333L20.1666 12.8333"
stroke="currentColor"
stroke-linecap="round"
stroke-linejoin="round"
stroke-width="1.833333"
/>
<path
d="M13.75 11.9167L13.75 13.75"
stroke="currentColor"
stroke-linecap="round"
stroke-linejoin="round"
stroke-width="1.833333"
/>
<path
d="M8.25 11.9167L8.25 13.75"
stroke="currentColor"
stroke-linecap="round"
stroke-linejoin="round"
stroke-width="1.833333"
/>
</svg>
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465
ruoyi-ui/public/inspection/elfin10/elfin10.urdf.xacro
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<?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>

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@ -1,134 +0,0 @@
<?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>

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ruoyi-ui/public/inspection/elfin10/elfin10_transmission.xacro
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@ -1,69 +0,0 @@
<?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>

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@ -1,660 +0,0 @@
<?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">
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<origin xyz="-1.39659173115092E-10 0.0675972604744393 0.019200551565574" rpy="0 0 0" />
<mass value="0.442332465815496" />
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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" />
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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" />
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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" />
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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" />
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ixy="-4.80751844573946E-05"
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iyz="-1.00039763417375E-09"
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<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" />
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</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">
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<mass value="0.563406026626801" />
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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">
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ixy="-2.34549801867353E-05"
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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" />
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</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">
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<origin xyz="-1.39656577968772E-10 -0.0675972614865965 0.0192005515655728" rpy="0 0 0" />
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ixy="-4.61462558956188E-15"
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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" />
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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" />
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ixy="5.75889766751509E-06"
ixz="2.40683898454438E-06"
iyy="0.000131246007872084"
iyz="1.60533277040148E-06"
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<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"/>
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<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>

281
ruoyi-ui/public/models/left_arm.urdf
View File

@ -1,281 +0,0 @@
<?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">
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<origin xyz="3.78529087037144E-05 3.81781425684836E-07 0.0386396273530852" rpy="0 0 0" />
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</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">
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</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" />
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</visual>
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<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">
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<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
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<material name="">
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</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" />
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</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">
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<origin xyz="-0.0335624237303443 0.0603199964106564 2.99655911639718E-07" rpy="0 0 0" />
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</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>

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@ -1,322 +0,0 @@
<?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>

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@ -1,123 +0,0 @@
<template>
<router-view/>
</template>
<script setup>
import useSettingsStore from '@/store/modules/settings'
import {handleThemeStyle} from '@/utils/theme'
onMounted(() => {
nextTick(() => {
// 初始化主题样式
handleThemeStyle(useSettingsStore().theme)
})
})
</script>
<style lang="scss">
//自定义样式覆盖el-table
.el-table .el-table__header-wrapper th, .el-table .el-table__fixed-header-wrapper th {
background-color: var(--el-color-primary-light-9) !important;
}
//自定义搜索加载动画
.other-search-enter-from, .other-search-leave-to {
opacity: 0;
transform: translateX(20px);
}
.other-search-enter-active {
transition: all .5s;
}
.other-search-leave-active {
transition: all .6s;
}
.el-dialog {
.task-title {
height: 30px;
font-weight: 900;
}
.custom-block {
padding: 8px 16px;
background-color: rgba(var(--el-color-primary-rgb), .1);
border-radius: 4px;
border-left: 5px solid var(--el-color-primary);
margin-top: 16px;
}
.draggable-group {
height: calc(100% - 30px);
overflow-y: auto;
border: 1px solid #e7eaec;
border-radius: 4px;
.dragClass {
background-color: rgba(var(--el-color-primary-rgb), .1);
}
.list-group-item {
border-bottom: none;
cursor: pointer;
padding: 10px 20px;
font-size: 14px;
display: flex;
align-items: center;
user-select: none;
i {
margin-right: 5px;
}
&:hover {
background-color: rgba(var(--el-color-primary-rgb), .1);
}
&:last-child {
border-bottom: none;
}
&:first-child {
border-top: none;
}
}
}
&.file-upload {
.el-upload {
border: 1px dashed var(--el-border-color);
border-radius: 6px;
cursor: pointer;
position: relative;
overflow: hidden;
transition: var(--el-transition-duration-fast);
}
}
.el-dialog__body {
.file-uploader {
display: flex;
flex-direction: column;
justify-content: center;
}
}
}
.test-log {
.el-drawer__body {
padding: 0;
padding-right: 30px;
}
}
.test-config {
.el-drawer__header {
margin-bottom: 20px;
}
.el-drawer__body {
padding: 0 20px;
}
}
</style>

461
ruoyi-ui/src/adapters/URDFAdapter.js
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@ -1,461 +0,0 @@
/**
* 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`);
}
}
}

616
ruoyi-ui/src/adapters/XacroAdapter.js
View File

@ -1,616 +0,0 @@
/**
* 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;
}
}

46
ruoyi-ui/src/api/corpusManger/corpus.js
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@ -1,46 +0,0 @@
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'
})
}

69
ruoyi-ui/src/api/corpusManger/speech_synthesis.js
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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'
})
}

18
ruoyi-ui/src/api/device/arm.js
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@ -1,18 +0,0 @@
import request from '@/utils/request'
// 移动机械臂
export function moveJ(data) {
return request({
url: '/api/humanoid/moveJ',
method: 'post',
data: data
})
}
// 获取机械臂状态
export function status(data) {
return request({
url: '/api/humanoid/status',
method: 'post',
data: data
})
}

19
ruoyi-ui/src/api/device/dexHand.js
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@ -1,19 +0,0 @@
import request from '@/utils/request'
// 获取灵巧手状态
export function status(query) {
return request({
url: '/api/dexHand/status',
method: 'get',
params: query
})
}
// 设置灵巧手弯曲角度
export function setDexHandAngle(query) {
return request({
url: '/api/dexHand/angle',
method: 'get',
params: query
})
}

71
ruoyi-ui/src/api/device/flow.js
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@ -1,71 +0,0 @@
import request from '@/utils/request'
// 发布流程
export function flowDeploy(data) {
return request({
url: '/flow/publish',
method: 'post',
data: data
})
}
export function flowExecute(data) {
return request({
url: '/flow/execute',
method: 'post',
data: data
})
}
export function flowAction(data) {
return request({
url: '/flow/action',
method: 'post',
data: data
})
}
export function flowExecuteTrial(data) {
return request({
url: '/flow/executeTrial',
method: 'post',
data: data
})
}
export function flowView(data) {
return request({
url: '/flow/view',
method: 'post',
data: data
})
}
export function flowPause(instId) {
return request({
url: `/flow/pause/${instId}`,
method: 'post'
})
}
export function flowResume(instId) {
return request({
url: `/flow/resume/${instId}`,
method: 'post'
})
}
export function flowStop(instId) {
return request({
url: `/flow/stop/${instId}`,
method: 'post'
})
}
export function getArmStatus(params) {
return request({
url: '/api/arm/getPose',
method: 'get',
params: params
})
}

46
ruoyi-ui/src/api/device/microphone.js
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@ -1,46 +0,0 @@
import request from '@/utils/request'
// 开始录音
export function startMicrophoneApi(data) {
return request({
url: '/api/Microphone/start',
method: 'post',
data: data
})
}
// 暂停录音
export function pauseMicrophoneApi(data) {
return request({
url: '/api/Microphone/pause',
method: 'post',
data: data
})
}
// 恢复录音
export function resumeMicrophoneApi(data) {
return request({
url: '/api/Microphone/resume',
method: 'post',
data: data
})
}
// 停止录音
export function stopMicrophoneApi(data) {
return request({
url: '/api/Microphone/stop',
method: 'post',
data: data
})
}
// 播放音频
export function playSpeaker(data) {
return request({
url: '/api/Speaker/play',
method: 'post',
data: data
})
}

45
ruoyi-ui/src/api/device/profile.js
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@ -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'
})
}

146
ruoyi-ui/src/api/device/register.js
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@ -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, {})
}

44
ruoyi-ui/src/api/device/robot.js
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@ -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'
})
}

72
ruoyi-ui/src/api/device/speaker.js
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@ -1,72 +0,0 @@
import request from '@/utils/request'
// 暂停播放
export function pause(data) {
return request({
url: '/api/Speaker/pause',
method: 'post',
data: data
})
}
// 播放音频
export function play(data) {
return request({
url: '/api/Speaker/play',
method: 'post',
data: data
})
}
// 恢复播放
export function resume(data) {
return request({
url: '/api/Speaker/resume',
method: 'post',
data: data
})
}
// 获取扬声器状态
export function status(query) {
return request({
url: '/api/Speaker/status',
method: 'get',
params: query
})
}
// 停止播放
export function stop(data) {
return request({
url: '/api/Speaker/stop',
method: 'post',
data: data
})
}
// 获取音量
export function getVolume(query) {
return request({
url: '/api/Speaker/volume',
method: 'get',
params: query
})
}
// 设置音量
export function setVolume(data) {
return request({
url: '/api/Speaker/volume',
method: 'post',
data: data
})
}
// 设置音量
export function getAll() {
return request({
url: '/api/Speaker/getAll',
method: 'get',
})
}

86
ruoyi-ui/src/api/device/terminal.js
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@ -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
}
})
}

68
ruoyi-ui/src/api/evaluate/indicator.js
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@ -1,68 +0,0 @@
import request from "@/utils/request";
// 查询根据层级指标库
export function getIndicatorByParentId(parentId, type) {
return request({
url: '/evaluate/indicator/getIndicatorByParentId',
method: "get",
params: {
parentId,
type
}
});
}
/**
* 新增指标
* @param {*} data
* @returns
*/
export function addIndicator(data) {
return request({
url: `/evaluate/indicator/indicator/insert`,
method: "post",
data
});
}
/**
* 删除指标
* @param {*} id
* @returns
*/
export function deleteIndicator(id) {
return request({
url: `/evaluate/indicator/${id}`,
method: "delete",
});
}
/**
* 修改指标
* @param {*} id
* @returns
*/
export function updateIndicator(data) {
return request({
url: `/evaluate/indicator`,
method: "put",
data
});
}
/**
* 获取指定层级的指标
* @param {*} id
* @returns
*/
export function getChildrenByParentIdWithLevelLimitApi(parentId, maxLevel, type) {
return request({
url: `/evaluate/indicator/getChildrenByParentIdWithLevelLimit`,
method: "get",
params: {
parentId,
maxLevel,
type
}
});
}

97
ruoyi-ui/src/api/inspection/cockpit.js
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@ -1,97 +0,0 @@
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
})
}

33
ruoyi-ui/src/api/inspection/map.js
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@ -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'
})
}

32
ruoyi-ui/src/api/inspection/point.js
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@ -1,32 +0,0 @@
import request from '@/utils/request'
export function getPointList(params) {
return request({
url: '/inspection/waypoint/list',
method: 'get',
params: params
})
}
export function addPoint(data) {
return request({
url: '/inspection/waypoint',
method: 'post',
data: data
})
}
export function updatePoint(data) {
return request({
url: '/inspection/waypoint',
method: 'put',
data: data
})
}
export function deletePoint(id) {
return request({
url: `/inspection/waypoint/${id}`,
method: 'delete'
})
}

23
ruoyi-ui/src/api/inspection/result.js
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@ -1,23 +0,0 @@
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
})
}

107
ruoyi-ui/src/api/inspection/robot.js
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@ -1,107 +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/${params.robotId}/download-map`,
method: 'get',
params
})
}
/**
* 获取机器人位置
* @param {*} robotId
* @returns
*/
export function getRobotLocation(robotId) {
return request({
url: `/inspection/robot/${robotId}/location`,
method: 'get'
})
}
/**
* 获取机器人状态
* @param {*} robotId
* @returns
*/
export function getRobotStatus(robotId) {
return request({
url: `/inspection/robot/{robotId}/sync-status`,
method: 'get'
})
}
/**
* 机器人运动控制
* @param {*} data
* @returns
*/
export function moveRobot(data) {
return request({
url: '/api/agv/setVelocity',
method: 'post',
data: data
})
}
/**
* 机器人停止运动
* @param {*} data
* @returns
*/
export function stopRobot(data) {
return request({
url: '/api/agv/stopVelocityControl',
method: 'post',
data: data
})
}

75
ruoyi-ui/src/api/inspection/runTask.js
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@ -1,75 +0,0 @@
import request from '@/utils/request'
export function getRunTaskList(params) {
return request({
url: '/inspection/taskInstance/list',
method: 'get',
params: params
})
}
export function getRunTaskDetail(id) {
return request({
url: `/inspection/taskInstance/${id}`,
method: 'get'
})
}
export function addRunTask(data) {
return request({
url: '/inspection/taskInstance',
method: 'post',
data: data
})
}
export function updateRunTask(data) {
return request({
url: '/inspection/taskInstance',
method: 'put',
data: data
})
}
export function deleteRunTask(id) {
return request({
url: `/inspection/taskInstance/${id}`,
method: 'delete'
})
}
export function startRunTask(id) {
return request({
url: `/inspection/taskInstance/start/${id}`,
method: 'put'
})
}
export function stopRunTask(id) {
return request({
url: `/inspection/taskInstance/stop/${id}`,
method: 'put'
})
}
export function pauseRunTask(id) {
return request({
url: `/inspection/taskInstance/pause/${id}`,
method: 'put'
})
}
export function resumeRunTask(id) {
return request({
url: `/inspection/taskInstance/resume/${id}`,
method: 'put'
})
}
export function getTaskLogListApi(params) {
return request({
url: '/inspection/taskLog/list',
method: 'get',
params: params
})
}

47
ruoyi-ui/src/api/inspection/task.js
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@ -1,47 +0,0 @@
import request from '@/utils/request'
export function getTaskList(params) {
return request({
url: '/inspection/task/list',
method: 'get',
params: params
})
}
export function addTask(data) {
return request({
url: '/inspection/task',
method: 'post',
data: data
})
}
export function updateTask(data) {
return request({
url: '/inspection/task',
method: 'put',
data: data
})
}
export function deleteTask(id) {
return request({
url: `/inspection/task/${id}`,
method: 'delete'
})
}
export function getWaypointByTaskId(taskId) {
return request({
url: `/inspection/task/${taskId}/waypoints`,
method: 'get'
})
}
export function bindWaypointsToTask(taskId, waypointIds) {
return request({
url: `/inspection/task/${taskId}/waypoints`,
method: 'post',
data: waypointIds
})
}

32
ruoyi-ui/src/api/intelligenceTest/car.js
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@ -1,32 +0,0 @@
import request from '@/utils/request'
export function addVehicle(data) {
return request({
url: '/aima/vehicle',
method: 'post',
data: data
})
}
export function getVehicleList(params) {
return request({
url: '/aima/vehicle/list',
method: 'get',
params: params
})
}
export function updateVehicle(data) {
return request({
url: '/aima/vehicle',
method: 'put',
data: data
})
}
export function deleteVehicle(ids) {
return request({
url: `/aima/vehicle/${ids}`,
method: 'delete'
})
}

32
ruoyi-ui/src/api/intelligenceTest/mobilePhone.js
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@ -1,32 +0,0 @@
import request from '@/utils/request'
export function addPhone(data) {
return request({
url: '/aima/phone',
method: 'post',
data: data
})
}
export function getPhoneList(params) {
return request({
url: '/aima/phone/list',
method: 'get',
params: params
})
}
export function updatePhone(data) {
return request({
url: '/aima/phone',
method: 'put',
data: data
})
}
export function deletePhone(ids) {
return request({
url: `/aima/phone/${ids}`,
method: 'delete'
})
}

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