diff --git a/cmvr-es/config/devices/arm/arm.pb.txt b/cmvr-es/config/devices/arm/arm.pb.txt index fb7173c5..8ba82207 100644 --- a/cmvr-es/config/devices/arm/arm.pb.txt +++ b/cmvr-es/config/devices/arm/arm.pb.txt @@ -3,8 +3,8 @@ arm { id: "right_arm" motor { - motor_system_id: "right_arm_can_motors" - motor_group_ids: "right_arm_can_motors" + motor_system_id: "ti5_motors" + motor_group_ids: "right_arm_can" dof: 7 joint_names: "R_SHOULDER_P" joint_names: "R_SHOULDER_R" @@ -51,6 +51,7 @@ arm { gain: 0.2 margin_ratio: 0.15 max_push: 0.25 + weight: 0.05 } } } @@ -58,14 +59,6 @@ arm { motion { move_j { - # MoveJ 轨迹完成后等待关节稳定的最长时间，单位为秒。 - settle_timeout_s: 2.0 - # MoveJ 完成时允许的最大关节位置误差，单位为弧度。 - settle_position_tolerance_rad: 0.002 - # MoveJ 完成时允许的最大关节速度，单位为弧度/秒。 - settle_velocity_tolerance_rad_s: 0.02 - # 位置和速度连续满足条件的采样次数。 - settle_stable_sample_count: 3 toppra_joint_motion_planner { path_type: TOPPRA_PATH_TYPE_QUINTIC sample_period_s: 0.001 @@ -151,162 +144,161 @@ arm { stop_command_velocity_norm: 1e-3 stop_measured_velocity_norm: 1e-2 stop_acceleration: 10 - # 等待 Cartesian 速度运动停止的最长时间，单位为秒。 - stop_timeout_s: 2.0 } } } } } + robot_arms { - id: "left_arm" + id: "eyou_arm" - motor { - motor_system_id: "left_arm_can_motors" - motor_group_ids: "left_arm_can_motors" - dof: 7 - joint_names: "L_SHOULDER_P" - joint_names: "L_SHOULDER_R" - joint_names: "L_SHOULDER_Y" - joint_names: "L_ELBOW_R" - joint_names: "L_WRIST_P" - joint_names: "L_WRIST_Y" - joint_names: "L_WRIST_R" - upd_freq: 1000 - buffer_size: 50 - default_vel: 1.0 - default_acc: 2.0 - } + motor { + motor_system_id: "ethercat_motors" + motor_group_ids: "dual_arm_ethercat" + dof: 7 + joint_names: "R_SHOULDER_P" + joint_names: "R_SHOULDER_R" + joint_names: "R_SHOULDER_Y" + joint_names: "R_ELBOW_R" + joint_names: "R_WRIST_P" + joint_names: "R_WRIST_Y" + joint_names: "R_WRIST_R" + upd_freq: 1000 + buffer_size: 50 + default_vel: 1.0 + default_acc: 2.0 + } - kinematics { - pinocchio_dls_ik_solver { - urdf_path: "model/xiaoyan_description/dual_arm.urdf" - base_frame_name: "PELVIS_S" - flange_frame_name: "L_WRIST_R_S" - tcp_frame_name: "L_FINGER_TIP_FIXED" - max_iters: 100 - pos_eps: 1e-6 - rot_eps: 1e-6 - damping: 1e-6 - joint_limit_policy { - limits { - enable: true - source: JOINT_LIMIT_SOURCE_CUSTOM - joints { joint_name: "L_SHOULDER_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } - joints { joint_name: "L_SHOULDER_R" q_lb: -0.78 q_ub: 1.57 qd: 5.0 qdd: 10.0 } - joints { joint_name: "L_SHOULDER_Y" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } - joints { joint_name: "L_ELBOW_R" q_lb: 0 q_ub: 2.05 qd: 5.0 qdd: 10.0 } - joints { joint_name: "L_WRIST_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } - joints { joint_name: "L_WRIST_Y" q_lb: -0.78 q_ub: 0.78 qd: 5.0 qdd: 10.0 } - joints { joint_name: "L_WRIST_R" q_lb: -0.57 q_ub: 1.57 qd: 5.0 qdd: 10.0 } - } - soft_limit { - enable: true - margin_ratio: 0.01 - min_margin_rad: 0.01 - } - avoidance { - enable: false - gain: 0.2 - margin_ratio: 0.15 - max_push: 0.25 - weight: 0.05 - } + kinematics { + pinocchio_dls_ik_solver { + urdf_path: "model/xiaoyan_description/dual_arm.urdf" + base_frame_name: "PELVIS_S" + flange_frame_name: "R_WRIST_R_S" + tcp_frame_name: "R_FINGER_TIP_FIXED" + max_iters: 100 + pos_eps: 1e-6 + rot_eps: 1e-6 + damping: 1e-6 + joint_limit_policy { + limits { + enable: true + source: JOINT_LIMIT_SOURCE_CUSTOM + joints { joint_name: "R_SHOULDER_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } + joints { joint_name: "R_SHOULDER_R" q_lb: -0.78 q_ub: 1.57 qd: 5.0 qdd: 10.0 } + joints { joint_name: "R_SHOULDER_Y" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } + joints { joint_name: "R_ELBOW_R" q_lb: 0 q_ub: 2.05 qd: 5.0 qdd: 10.0 } + joints { joint_name: "R_WRIST_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } + joints { joint_name: "R_WRIST_Y" q_lb: -0.78 q_ub: 0.78 qd: 5.0 qdd: 10.0 } + joints { joint_name: "R_WRIST_R" q_lb: -0.57 q_ub: 1.57 qd: 5.0 qdd: 10.0 } } - } - } - - motion { - move_j { - toppra_joint_motion_planner { - path_type: TOPPRA_PATH_TYPE_QUINTIC - sample_period_s: 0.001 - grid_size: 150 - high_grid_size: 300 + soft_limit { + enable: true + margin_ratio: 0.01 + min_margin_rad: 0.01 } - } - - move_l { - pinocchio_cartesian_motion_planner { - sample_period_s: 0.001 - position_gain: 4.0 - rotation_gain: 4.0 - line_deviation_check { - enable: true - line_deviation_warn_m: 0.01 - line_deviation_stop_m: 0.03 - line_direction_warn_deg: 20.0 - line_direction_stop_deg: 45.0 - line_direction_reset_deg: 10.0 - line_check_min_distance_m: 0.01 - } - joint_continuity_check { - enable: true - max_joint_delta_rad: 0.05 - max_joint_velocity_rad_s: 10.0 - max_joint_acceleration_rad_s2: 5000.0 - } - cartesian_step_feasibility_check { - enable: true - min_linear_speed_ratio: 0.2 - max_linear_direction_deviation_deg: 45.0 - min_angular_speed_ratio: 0.2 - max_angular_direction_deviation_deg: 45.0 - min_desired_linear_speed: 1e-4 - min_desired_angular_speed: 1e-4 - } - } - } - - speed_l { - pinocchio_cartesian_motion_planner { - linear_velocity_max: 0.55 - linear_acceleration_max: 5.0 - linear_jerk_max: 10.0 - angular_velocity_max: 1.0 - angular_acceleration_max: 5.0 - angular_jerk_max: 12.0 - linear_target_replan_threshold: 1e-4 - angular_target_replan_threshold: 1e-4 - linear_reverse_cos_threshold: -0.8660254037844386 - linear_reverse_switch_speed_threshold: 1e-3 - enforce_joint_acceleration_limits: true - line_deviation_check { - enable: true - line_deviation_warn_m: 0.01 - line_deviation_stop_m: 0.03 - line_direction_warn_deg: 20.0 - line_direction_stop_deg: 45.0 - line_direction_reset_deg: 10.0 - line_check_min_distance_m: 0.01 - } - joint_velocity_check { - enable: true - max_joint_velocity_rad_s: 30.0 - max_joint_acceleration_rad_s2: 10000.0 - } - cartesian_velocity_feasibility_check { - enable: true - min_linear_speed_ratio: 0.2 - max_linear_direction_deviation_deg: 5.0 - min_angular_speed_ratio: 0.2 - max_angular_direction_deviation_deg: 5.0 - min_desired_linear_speed: 1e-4 - min_desired_angular_speed: 1e-4 - } - } - - speed_l_controller { - cartesian_velocity_controller { - control_period_s: 0.001 - stop_twist_norm: 1e-9 - stop_command_velocity_norm: 1e-3 - stop_measured_velocity_norm: 1e-2 - stop_acceleration: 10 - } + avoidance { + enable: false + gain: 0.2 + margin_ratio: 0.15 + max_push: 0.25 + weight: 0.05 } } } } + + motion { + move_j { + toppra_joint_motion_planner { + path_type: TOPPRA_PATH_TYPE_QUINTIC + sample_period_s: 0.001 + grid_size: 150 + high_grid_size: 300 + } + } + + move_l { + pinocchio_cartesian_motion_planner { + sample_period_s: 0.001 + position_gain: 4.0 + rotation_gain: 4.0 + line_deviation_check { + enable: true + line_deviation_warn_m: 0.01 + line_deviation_stop_m: 0.03 + line_direction_warn_deg: 20.0 + line_direction_stop_deg: 45.0 + line_direction_reset_deg: 10.0 + line_check_min_distance_m: 0.01 + } + joint_continuity_check { + enable: true + max_joint_delta_rad: 0.05 + max_joint_velocity_rad_s: 10.0 + max_joint_acceleration_rad_s2: 5000.0 + } + cartesian_step_feasibility_check { + enable: true + min_linear_speed_ratio: 0.2 + max_linear_direction_deviation_deg: 45.0 + min_angular_speed_ratio: 0.2 + max_angular_direction_deviation_deg: 45.0 + min_desired_linear_speed: 1e-4 + min_desired_angular_speed: 1e-4 + } + } + } + + speed_l { + pinocchio_cartesian_motion_planner { + linear_velocity_max: 0.55 + linear_acceleration_max: 5.0 + linear_jerk_max: 10.0 + angular_velocity_max: 1.0 + angular_acceleration_max: 5.0 + angular_jerk_max: 12.0 + linear_target_replan_threshold: 1e-4 + angular_target_replan_threshold: 1e-4 + linear_reverse_cos_threshold: -0.8660254037844386 + linear_reverse_switch_speed_threshold: 1e-3 + enforce_joint_acceleration_limits: true + line_deviation_check { + enable: true + line_deviation_warn_m: 0.01 + line_deviation_stop_m: 0.03 + line_direction_warn_deg: 20.0 + line_direction_stop_deg: 45.0 + line_direction_reset_deg: 10.0 + line_check_min_distance_m: 0.01 + } + joint_velocity_check { + enable: true + max_joint_velocity_rad_s: 30.0 + max_joint_acceleration_rad_s2: 10000.0 + } + cartesian_velocity_feasibility_check { + enable: true + min_linear_speed_ratio: 0.2 + max_linear_direction_deviation_deg: 5.0 + min_angular_speed_ratio: 0.2 + max_angular_direction_deviation_deg: 5.0 + min_desired_linear_speed: 1e-4 + min_desired_angular_speed: 1e-4 + } + } + + speed_l_controller { + cartesian_velocity_controller { + control_period_s: 0.001 + stop_twist_norm: 1e-9 + stop_command_velocity_norm: 1e-3 + stop_measured_velocity_norm: 1e-2 + stop_acceleration: 10 + } + } + } + } + } } diff --git a/cmvr-es/config/devices/arm/arm_eyou_left.pb.txt b/cmvr-es/config/devices/arm/arm_eyou_left.pb.txt new file mode 100644 index 00000000..27fcdd50 --- /dev/null +++ b/cmvr-es/config/devices/arm/arm_eyou_left.pb.txt @@ -0,0 +1,152 @@ +arm { + robot_arms { + id: "eyou_left_arm" + + motor { + motor_system_id: "ethercat_motors" + motor_group_ids: "dual_arm_ethercat" + dof: 7 + joint_names: "L_SHOULDER_P" + joint_names: "L_SHOULDER_R" + joint_names: "L_SHOULDER_Y" + joint_names: "L_ELBOW_R" + joint_names: "L_WRIST_P" + joint_names: "L_WRIST_Y" + joint_names: "L_WRIST_R" + upd_freq: 1000 + buffer_size: 50 + default_vel: 1.0 + default_acc: 2.0 + } + + kinematics { + pinocchio_dls_ik_solver { + urdf_path: "model/xiaoyan_description/dual_arm.urdf" + base_frame_name: "PELVIS_S" + flange_frame_name: "L_WRIST_R_S" + tcp_frame_name: "L_FINGER_TIP_FIXED" + max_iters: 100 + pos_eps: 1e-6 + rot_eps: 1e-6 + damping: 1e-6 + joint_limit_policy { + limits { + enable: true + source: JOINT_LIMIT_SOURCE_CUSTOM + joints { joint_name: "L_SHOULDER_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_SHOULDER_R" q_lb: -0.78 q_ub: 1.57 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_SHOULDER_Y" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_ELBOW_R" q_lb: 0 q_ub: 2.05 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_WRIST_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_WRIST_Y" q_lb: -0.78 q_ub: 0.78 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_WRIST_R" q_lb: -0.57 q_ub: 1.57 qd: 5.0 qdd: 10.0 } + } + soft_limit { + enable: true + margin_ratio: 0.01 + min_margin_rad: 0.01 + } + avoidance { + enable: false + gain: 0.2 + margin_ratio: 0.15 + max_push: 0.25 + weight: 0.05 + } + } + } + } + + motion { + move_j { + toppra_joint_motion_planner { + path_type: TOPPRA_PATH_TYPE_QUINTIC + sample_period_s: 0.001 + grid_size: 150 + high_grid_size: 300 + } + } + + move_l { + pinocchio_cartesian_motion_planner { + sample_period_s: 0.001 + position_gain: 4.0 + rotation_gain: 4.0 + line_deviation_check { + enable: true + line_deviation_warn_m: 0.01 + line_deviation_stop_m: 0.03 + line_direction_warn_deg: 20.0 + line_direction_stop_deg: 45.0 + line_direction_reset_deg: 10.0 + line_check_min_distance_m: 0.01 + } + joint_continuity_check { + enable: true + max_joint_delta_rad: 0.05 + max_joint_velocity_rad_s: 10.0 + max_joint_acceleration_rad_s2: 5000.0 + } + cartesian_step_feasibility_check { + enable: true + min_linear_speed_ratio: 0.2 + max_linear_direction_deviation_deg: 45.0 + min_angular_speed_ratio: 0.2 + max_angular_direction_deviation_deg: 45.0 + min_desired_linear_speed: 1e-4 + min_desired_angular_speed: 1e-4 + } + } + } + + speed_l { + pinocchio_cartesian_motion_planner { + linear_velocity_max: 0.55 + linear_acceleration_max: 5.0 + linear_jerk_max: 10.0 + angular_velocity_max: 1.0 + angular_acceleration_max: 5.0 + angular_jerk_max: 12.0 + linear_target_replan_threshold: 1e-4 + angular_target_replan_threshold: 1e-4 + linear_reverse_cos_threshold: -0.8660254037844386 + linear_reverse_switch_speed_threshold: 1e-3 + enforce_joint_acceleration_limits: true + line_deviation_check { + enable: true + line_deviation_warn_m: 0.01 + line_deviation_stop_m: 0.03 + line_direction_warn_deg: 20.0 + line_direction_stop_deg: 45.0 + line_direction_reset_deg: 10.0 + line_check_min_distance_m: 0.01 + } + joint_velocity_check { + enable: true + max_joint_velocity_rad_s: 30.0 + max_joint_acceleration_rad_s2: 10000.0 + } + cartesian_velocity_feasibility_check { + enable: true + min_linear_speed_ratio: 0.2 + max_linear_direction_deviation_deg: 5.0 + min_angular_speed_ratio: 0.2 + max_angular_direction_deviation_deg: 5.0 + min_desired_linear_speed: 1e-4 + min_desired_angular_speed: 1e-4 + } + } + + speed_l_controller { + cartesian_velocity_controller { + control_period_s: 0.001 + stop_twist_norm: 1e-9 + stop_command_velocity_norm: 1e-3 + stop_measured_velocity_norm: 1e-2 + stop_acceleration: 10 + } + } + } + } + } +} diff --git a/cmvr-es/config/devices/motor/ethercat_motors.pb.txt b/cmvr-es/config/devices/motor/ethercat_motors.pb.txt index 0d9432ec..b36237cc 100644 --- a/cmvr-es/config/devices/motor/ethercat_motors.pb.txt +++ b/cmvr-es/config/devices/motor/ethercat_motors.pb.txt @@ -2,7 +2,7 @@ motor { id: "ethercat_motors" motor_groups { - id: "right_arm_ethercat_motors" + id: "dual_arm_ethercat" bus_type: MOTOR_BUS_ETHERCAT vendor: MOTOR_VENDOR_EYOU protocol: MOTOR_PROTOCOL_ETHERCAT_CIA402 @@ -38,13 +38,20 @@ motor { sync_monitor_period_ms: 1000 } - slaves { motor_id: 1 alias: 0 position: 0 } - slaves { motor_id: 2 alias: 0 position: 1 } - slaves { motor_id: 3 alias: 0 position: 2 } - slaves { motor_id: 4 alias: 0 position: 3 } - slaves { motor_id: 5 alias: 0 position: 4 } - slaves { motor_id: 6 alias: 0 position: 5 } - slaves { motor_id: 7 alias: 0 position: 6 } + slaves { motor_id: 1 alias: 0 position: 1 } + slaves { motor_id: 2 alias: 0 position: 2 } + slaves { motor_id: 3 alias: 0 position: 3 } + slaves { motor_id: 4 alias: 0 position: 4 } + slaves { motor_id: 5 alias: 0 position: 5 } + slaves { motor_id: 6 alias: 0 position: 6 } + slaves { motor_id: 7 alias: 0 position: 7 } + slaves { motor_id: 8 alias: 0 position: 8 } + slaves { motor_id: 9 alias: 0 position: 9 } + slaves { motor_id: 10 alias: 0 position: 10 } + slaves { motor_id: 11 alias: 0 position: 11 } + slaves { motor_id: 12 alias: 0 position: 12 } + slaves { motor_id: 13 alias: 0 position: 13 } + slaves { motor_id: 14 alias: 0 position: 14 } } joint_limits { @@ -57,6 +64,13 @@ motor { joints { joint_name: "R_WRIST_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } joints { joint_name: "R_WRIST_Y" q_lb: -0.78 q_ub: 0.78 qd: 5.0 qdd: 10.0 } joints { joint_name: "R_WRIST_R" q_lb: -0.57 q_ub: 1.57 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_SHOULDER_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_SHOULDER_R" q_lb: -0.78 q_ub: 1.57 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_SHOULDER_Y" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_ELBOW_R" q_lb: 0 q_ub: 2.05 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_WRIST_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_WRIST_Y" q_lb: -0.78 q_ub: 0.78 qd: 5.0 qdd: 10.0 } + joints { joint_name: "L_WRIST_R" q_lb: -0.57 q_ub: 1.57 qd: 5.0 qdd: 10.0 } } motors { @@ -67,6 +81,13 @@ motor { motors { id: 5 joint_name: "R_WRIST_P" encoder_counts_per_rev: 65536 gear_ratio: 101.0 } motors { id: 6 joint_name: "R_WRIST_Y" encoder_counts_per_rev: 65536 gear_ratio: 101.0 } motors { id: 7 joint_name: "R_WRIST_R" encoder_counts_per_rev: 65536 gear_ratio: 101.0 } + motors { id: 8 joint_name: "L_SHOULDER_P" encoder_counts_per_rev: 65536 gear_ratio: 101.0 } + motors { id: 9 joint_name: "L_SHOULDER_R" encoder_counts_per_rev: 65536 gear_ratio: 101.0 } + motors { id: 10 joint_name: "L_SHOULDER_Y" encoder_counts_per_rev: 65536 gear_ratio: 101.0 } + motors { id: 11 joint_name: "L_ELBOW_R" encoder_counts_per_rev: 65536 gear_ratio: 101.0 } + motors { id: 12 joint_name: "L_WRIST_P" encoder_counts_per_rev: 65536 gear_ratio: 101.0 } + motors { id: 13 joint_name: "L_WRIST_Y" encoder_counts_per_rev: 65536 gear_ratio: 101.0 } + motors { id: 14 joint_name: "L_WRIST_R" encoder_counts_per_rev: 65536 gear_ratio: 101.0 } } } } diff --git a/cmvr-es/config/manager/device_manager.pb.txt b/cmvr-es/config/manager/device_manager.pb.txt index 48486297..5475ff16 100644 --- a/cmvr-es/config/manager/device_manager.pb.txt +++ b/cmvr-es/config/manager/device_manager.pb.txt @@ -2,46 +2,41 @@ device_manager { name: "cmvr_es" version: "0.1" description: "cmvr edge system version 0.1" + init_all_motors_when_no_active_joints: true + devices { id: "mujoco_world" type: DEVICE_TYPE_MUJOCO_WORLD - config_file: "devices/mujoco/right_arm_eye_to_hand_world.pb.txt" - enable: true + config_file: "devices/mujoco/mujoco_world.pb.txt" + enable: false } devices { - id: "right_arm_mujoco_motors" + id: "mujoco_motors" type: DEVICE_TYPE_MOTOR_SYSTEM config_file: "devices/motor/mujoco_motors.pb.txt" - enable: true + enable: false } devices { id: "mujoco_right_arm" type: DEVICE_TYPE_ROBOT_ARM config_file: "devices/arm/arm_mujoco_qp.pb.txt" - enable: true + enable: false } devices { id: "mujoco_viewer" type: DEVICE_TYPE_MUJOCO_VIEWER config_file: "devices/mujoco/mujoco_viewer.pb.txt" - enable: true + enable: false } devices { id: "mujoco_hand_cam" type: DEVICE_TYPE_CAMERA config_file: "devices/camera/camera.pb.txt" - enable: true - } - - devices { - id: "mujoco_external_touch_cam" - type: DEVICE_TYPE_CAMERA - config_file: "devices/camera/camera.pb.txt" - enable: true + enable: false } devices { @@ -74,42 +69,14 @@ device_manager { } devices { - id: "mujoco_zero_touch_dexhand" - type: DEVICE_TYPE_DEXHAND - config_file: "devices/dexhand/dexhand.pb.txt" - enable: true - } - - devices { - id: "left_arm_can_motors" + id: "ti5_motors" type: DEVICE_TYPE_MOTOR_SYSTEM config_file: "devices/motor/ti5_motors.pb.txt" enable: false } devices { - id: "right_arm_can_motors" - type: DEVICE_TYPE_MOTOR_SYSTEM - config_file: "devices/motor/ti5_motors.pb.txt" - enable: false - } - - devices { - id: "head_can_motors" - type: DEVICE_TYPE_MOTOR_SYSTEM - config_file: "devices/motor/ti5_motors.pb.txt" - enable: false - } - - devices { - id: "waist_can_motors" - type: DEVICE_TYPE_MOTOR_SYSTEM - config_file: "devices/motor/ti5_motors.pb.txt" - enable: false - } - - devices { - id: "right_arm_ethercat_motors" + id: "ethercat_motors" type: DEVICE_TYPE_MOTOR_SYSTEM config_file: "devices/motor/ethercat_motors.pb.txt" enable: false @@ -118,7 +85,21 @@ device_manager { devices { id: "right_arm" type: DEVICE_TYPE_ROBOT_ARM - config_file: "devices/arm/arm_qp.pb.txt" + config_file: "devices/arm/arm.pb.txt" + enable: false + } + + devices { + id: "eyou_arm" + type: DEVICE_TYPE_ROBOT_ARM + config_file: "devices/arm/arm.pb.txt" + enable: false + } + + devices { + id: "eyou_left_arm" + type: DEVICE_TYPE_ROBOT_ARM + config_file: "devices/arm/arm_eyou_left.pb.txt" enable: false } @@ -142,11 +123,58 @@ device_manager { config_file: "devices/biohead/bio_head.pb.txt" enable: false } - + devices { - id: "agv_1" + id: "src1100" type: DEVICE_TYPE_AGV - config_file: "devices/agv/agv.pb.txt" + config_file: "devices/agv/src1100.pb.txt" enable: false } + + devices { + id: "hikvision_cam" + type: DEVICE_TYPE_CAMERA + config_file: "devices/camera/camera.pb.txt" + # Host-development default: keep physical cameras disabled. + enable: false + } + devices { + id: "hikvision_thermal_cam" + type: DEVICE_TYPE_CAMERA + config_file: "devices/camera/camera.pb.txt" + # Host-development default: keep physical cameras disabled. + enable: false + } + + devices { + id: "mic1" + type: DEVICE_TYPE_MICROPHONE + config_file: "devices/microphone/microphone.pb.txt" + # Host-development default: keep physical audio devices disabled. + enable: false + } + + devices { + id: "spk1" + type: DEVICE_TYPE_SPEAKER + config_file: "devices/speaker/speaker.pb.txt" + # Host-development default: keep physical audio devices disabled. + enable: false + } + + + devices { + id: "real_cam1" + type: DEVICE_TYPE_CAMERA + config_file: "devices/camera/camera.pb.txt" + # Host-development default: keep physical cameras disabled. + enable: false + } + devices { + id: "usb_cam1" + type: DEVICE_TYPE_CAMERA + config_file: "devices/camera/camera.pb.txt" + # Host-development default: keep physical cameras disabled. + enable: false + } } diff --git a/model/xiaoyan_description/dual_arm.urdf b/model/xiaoyan_description/dual_arm.urdf index 7e7ab687..d033f89c 100644 --- a/model/xiaoyan_description/dual_arm.urdf +++ b/model/xiaoyan_description/dual_arm.urdf @@ -274,6 +274,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +