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feat(ethercat): configure dual Eyou robot arms

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This commit is contained in:
linbo 2026-08-20 10:00:17 +08:00
parent b8fb1458fa
commit 108fa5d206
5 changed files with 432 additions and 209 deletions
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54
cmvr-es/config/devices/arm/arm.pb.txt
View File

@ -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
@ -151,28 +144,27 @@ 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"
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"
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
@ -183,8 +175,8 @@ arm {
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"
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
@ -193,13 +185,13 @@ arm {
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 }
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 }
}
soft_limit {
enable: true

152
cmvr-es/config/devices/arm/arm_eyou_left.pb.txt Normal file
View File

@ -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
}
}
}
}
}
}

37
cmvr-es/config/devices/motor/ethercat_motors.pb.txt
View File

@ -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 }
}
}
}

122
cmvr-es/config/manager/device_manager.pb.txt
View File

@ -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
}
@ -144,9 +125,56 @@ device_manager {
}
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
}
}

30
model/xiaoyan_description/dual_arm.urdf
View File

@ -274,6 +274,36 @@
<limit lower="-1.57" upper="0.26" effort="50" velocity="4.71" />
</joint>
<link name="L_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"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
</link>
<joint name="L_FINGER_TIP_FIXED" type="fixed">
<origin xyz="0.00684256 0.284077 0.00801525" rpy="0 0 0"/>
<parent link="L_WRIST_R_S"/>
<child link="L_FINGER_TIP"/>
<axis xyz="0 0 1"/>
</joint>
<link name="R_SHOULDER_P_S">
<inertial>
<origin xyz="-0.00982258725282141 -0.0704593093873431 -1.15069920925137E-06" rpy="0 0 0" />