feat(ethercat): configure dual Eyou robot arms
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@ -3,8 +3,8 @@ arm {
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id: "right_arm"
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motor {
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motor_system_id: "right_arm_can_motors"
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motor_group_ids: "right_arm_can_motors"
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motor_system_id: "ti5_motors"
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motor_group_ids: "right_arm_can"
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dof: 7
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joint_names: "R_SHOULDER_P"
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joint_names: "R_SHOULDER_R"
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@ -51,6 +51,7 @@ arm {
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gain: 0.2
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margin_ratio: 0.15
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max_push: 0.25
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weight: 0.05
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}
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}
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}
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@ -58,14 +59,6 @@ arm {
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motion {
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move_j {
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# MoveJ 轨迹完成后等待关节稳定的最长时间，单位为秒。
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settle_timeout_s: 2.0
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# MoveJ 完成时允许的最大关节位置误差，单位为弧度。
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settle_position_tolerance_rad: 0.002
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# MoveJ 完成时允许的最大关节速度，单位为弧度/秒。
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settle_velocity_tolerance_rad_s: 0.02
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# 位置和速度连续满足条件的采样次数。
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settle_stable_sample_count: 3
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toppra_joint_motion_planner {
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path_type: TOPPRA_PATH_TYPE_QUINTIC
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sample_period_s: 0.001
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@ -151,162 +144,161 @@ arm {
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stop_command_velocity_norm: 1e-3
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stop_measured_velocity_norm: 1e-2
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stop_acceleration: 10
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# 等待 Cartesian 速度运动停止的最长时间，单位为秒。
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stop_timeout_s: 2.0
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}
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}
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}
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}
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}
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robot_arms {
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id: "left_arm"
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id: "eyou_arm"
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motor {
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motor_system_id: "left_arm_can_motors"
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motor_group_ids: "left_arm_can_motors"
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dof: 7
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joint_names: "L_SHOULDER_P"
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joint_names: "L_SHOULDER_R"
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joint_names: "L_SHOULDER_Y"
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joint_names: "L_ELBOW_R"
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joint_names: "L_WRIST_P"
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joint_names: "L_WRIST_Y"
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joint_names: "L_WRIST_R"
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upd_freq: 1000
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buffer_size: 50
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default_vel: 1.0
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default_acc: 2.0
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}
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motor {
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motor_system_id: "ethercat_motors"
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motor_group_ids: "dual_arm_ethercat"
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dof: 7
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joint_names: "R_SHOULDER_P"
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joint_names: "R_SHOULDER_R"
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joint_names: "R_SHOULDER_Y"
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joint_names: "R_ELBOW_R"
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joint_names: "R_WRIST_P"
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joint_names: "R_WRIST_Y"
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joint_names: "R_WRIST_R"
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upd_freq: 1000
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buffer_size: 50
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default_vel: 1.0
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default_acc: 2.0
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}
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kinematics {
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pinocchio_dls_ik_solver {
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urdf_path: "model/xiaoyan_description/dual_arm.urdf"
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base_frame_name: "PELVIS_S"
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flange_frame_name: "L_WRIST_R_S"
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tcp_frame_name: "L_FINGER_TIP_FIXED"
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max_iters: 100
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pos_eps: 1e-6
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rot_eps: 1e-6
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damping: 1e-6
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joint_limit_policy {
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limits {
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enable: true
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source: JOINT_LIMIT_SOURCE_CUSTOM
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joints { joint_name: "L_SHOULDER_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_SHOULDER_R" q_lb: -0.78 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_SHOULDER_Y" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_ELBOW_R" q_lb: 0 q_ub: 2.05 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_WRIST_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_WRIST_Y" q_lb: -0.78 q_ub: 0.78 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_WRIST_R" q_lb: -0.57 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
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}
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soft_limit {
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enable: true
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margin_ratio: 0.01
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min_margin_rad: 0.01
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}
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avoidance {
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enable: false
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gain: 0.2
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margin_ratio: 0.15
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max_push: 0.25
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weight: 0.05
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}
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kinematics {
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pinocchio_dls_ik_solver {
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urdf_path: "model/xiaoyan_description/dual_arm.urdf"
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base_frame_name: "PELVIS_S"
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flange_frame_name: "R_WRIST_R_S"
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tcp_frame_name: "R_FINGER_TIP_FIXED"
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max_iters: 100
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pos_eps: 1e-6
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rot_eps: 1e-6
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damping: 1e-6
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joint_limit_policy {
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limits {
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enable: true
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source: JOINT_LIMIT_SOURCE_CUSTOM
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joints { joint_name: "R_SHOULDER_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_SHOULDER_R" q_lb: -0.78 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_SHOULDER_Y" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_ELBOW_R" q_lb: 0 q_ub: 2.05 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_WRIST_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_WRIST_Y" q_lb: -0.78 q_ub: 0.78 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "R_WRIST_R" q_lb: -0.57 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
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}
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}
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}
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motion {
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move_j {
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toppra_joint_motion_planner {
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path_type: TOPPRA_PATH_TYPE_QUINTIC
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sample_period_s: 0.001
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grid_size: 150
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high_grid_size: 300
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soft_limit {
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enable: true
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margin_ratio: 0.01
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min_margin_rad: 0.01
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}
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}
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move_l {
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pinocchio_cartesian_motion_planner {
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sample_period_s: 0.001
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position_gain: 4.0
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rotation_gain: 4.0
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line_deviation_check {
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enable: true
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line_deviation_warn_m: 0.01
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line_deviation_stop_m: 0.03
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line_direction_warn_deg: 20.0
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line_direction_stop_deg: 45.0
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line_direction_reset_deg: 10.0
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line_check_min_distance_m: 0.01
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}
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joint_continuity_check {
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enable: true
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max_joint_delta_rad: 0.05
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max_joint_velocity_rad_s: 10.0
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max_joint_acceleration_rad_s2: 5000.0
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}
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cartesian_step_feasibility_check {
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enable: true
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min_linear_speed_ratio: 0.2
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max_linear_direction_deviation_deg: 45.0
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min_angular_speed_ratio: 0.2
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max_angular_direction_deviation_deg: 45.0
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min_desired_linear_speed: 1e-4
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min_desired_angular_speed: 1e-4
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}
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}
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}
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speed_l {
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pinocchio_cartesian_motion_planner {
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linear_velocity_max: 0.55
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linear_acceleration_max: 5.0
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linear_jerk_max: 10.0
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angular_velocity_max: 1.0
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angular_acceleration_max: 5.0
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angular_jerk_max: 12.0
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linear_target_replan_threshold: 1e-4
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angular_target_replan_threshold: 1e-4
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linear_reverse_cos_threshold: -0.8660254037844386
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linear_reverse_switch_speed_threshold: 1e-3
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enforce_joint_acceleration_limits: true
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line_deviation_check {
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enable: true
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line_deviation_warn_m: 0.01
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line_deviation_stop_m: 0.03
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line_direction_warn_deg: 20.0
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line_direction_stop_deg: 45.0
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line_direction_reset_deg: 10.0
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line_check_min_distance_m: 0.01
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}
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joint_velocity_check {
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enable: true
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max_joint_velocity_rad_s: 30.0
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max_joint_acceleration_rad_s2: 10000.0
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}
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cartesian_velocity_feasibility_check {
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enable: true
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min_linear_speed_ratio: 0.2
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max_linear_direction_deviation_deg: 5.0
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min_angular_speed_ratio: 0.2
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max_angular_direction_deviation_deg: 5.0
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min_desired_linear_speed: 1e-4
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min_desired_angular_speed: 1e-4
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}
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}
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speed_l_controller {
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cartesian_velocity_controller {
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control_period_s: 0.001
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stop_twist_norm: 1e-9
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stop_command_velocity_norm: 1e-3
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stop_measured_velocity_norm: 1e-2
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stop_acceleration: 10
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}
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avoidance {
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enable: false
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gain: 0.2
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margin_ratio: 0.15
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max_push: 0.25
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weight: 0.05
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}
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}
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}
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}
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motion {
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move_j {
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toppra_joint_motion_planner {
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path_type: TOPPRA_PATH_TYPE_QUINTIC
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sample_period_s: 0.001
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grid_size: 150
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high_grid_size: 300
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}
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}
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move_l {
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pinocchio_cartesian_motion_planner {
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sample_period_s: 0.001
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position_gain: 4.0
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rotation_gain: 4.0
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line_deviation_check {
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enable: true
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line_deviation_warn_m: 0.01
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line_deviation_stop_m: 0.03
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line_direction_warn_deg: 20.0
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line_direction_stop_deg: 45.0
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line_direction_reset_deg: 10.0
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line_check_min_distance_m: 0.01
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}
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joint_continuity_check {
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enable: true
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max_joint_delta_rad: 0.05
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max_joint_velocity_rad_s: 10.0
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max_joint_acceleration_rad_s2: 5000.0
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}
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cartesian_step_feasibility_check {
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enable: true
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min_linear_speed_ratio: 0.2
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max_linear_direction_deviation_deg: 45.0
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min_angular_speed_ratio: 0.2
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max_angular_direction_deviation_deg: 45.0
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min_desired_linear_speed: 1e-4
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min_desired_angular_speed: 1e-4
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}
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}
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}
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speed_l {
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pinocchio_cartesian_motion_planner {
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linear_velocity_max: 0.55
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linear_acceleration_max: 5.0
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linear_jerk_max: 10.0
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angular_velocity_max: 1.0
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angular_acceleration_max: 5.0
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angular_jerk_max: 12.0
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linear_target_replan_threshold: 1e-4
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angular_target_replan_threshold: 1e-4
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linear_reverse_cos_threshold: -0.8660254037844386
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linear_reverse_switch_speed_threshold: 1e-3
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enforce_joint_acceleration_limits: true
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line_deviation_check {
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enable: true
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line_deviation_warn_m: 0.01
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line_deviation_stop_m: 0.03
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line_direction_warn_deg: 20.0
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line_direction_stop_deg: 45.0
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line_direction_reset_deg: 10.0
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line_check_min_distance_m: 0.01
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}
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joint_velocity_check {
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enable: true
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max_joint_velocity_rad_s: 30.0
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max_joint_acceleration_rad_s2: 10000.0
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}
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cartesian_velocity_feasibility_check {
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enable: true
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min_linear_speed_ratio: 0.2
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max_linear_direction_deviation_deg: 5.0
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min_angular_speed_ratio: 0.2
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max_angular_direction_deviation_deg: 5.0
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min_desired_linear_speed: 1e-4
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min_desired_angular_speed: 1e-4
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}
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}
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speed_l_controller {
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cartesian_velocity_controller {
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control_period_s: 0.001
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stop_twist_norm: 1e-9
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stop_command_velocity_norm: 1e-3
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stop_measured_velocity_norm: 1e-2
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stop_acceleration: 10
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}
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}
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}
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}
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}
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}
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152
cmvr-es/config/devices/arm/arm_eyou_left.pb.txt
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152
cmvr-es/config/devices/arm/arm_eyou_left.pb.txt
Normal file
@ -0,0 +1,152 @@
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arm {
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robot_arms {
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id: "eyou_left_arm"
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motor {
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motor_system_id: "ethercat_motors"
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motor_group_ids: "dual_arm_ethercat"
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dof: 7
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joint_names: "L_SHOULDER_P"
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joint_names: "L_SHOULDER_R"
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joint_names: "L_SHOULDER_Y"
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joint_names: "L_ELBOW_R"
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joint_names: "L_WRIST_P"
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joint_names: "L_WRIST_Y"
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joint_names: "L_WRIST_R"
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upd_freq: 1000
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buffer_size: 50
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default_vel: 1.0
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default_acc: 2.0
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}
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kinematics {
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pinocchio_dls_ik_solver {
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urdf_path: "model/xiaoyan_description/dual_arm.urdf"
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base_frame_name: "PELVIS_S"
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flange_frame_name: "L_WRIST_R_S"
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tcp_frame_name: "L_FINGER_TIP_FIXED"
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max_iters: 100
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pos_eps: 1e-6
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rot_eps: 1e-6
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damping: 1e-6
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joint_limit_policy {
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limits {
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enable: true
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source: JOINT_LIMIT_SOURCE_CUSTOM
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joints { joint_name: "L_SHOULDER_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_SHOULDER_R" q_lb: -0.78 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_SHOULDER_Y" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_ELBOW_R" q_lb: 0 q_ub: 2.05 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_WRIST_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_WRIST_Y" q_lb: -0.78 q_ub: 0.78 qd: 5.0 qdd: 10.0 }
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joints { joint_name: "L_WRIST_R" q_lb: -0.57 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
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}
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soft_limit {
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enable: true
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margin_ratio: 0.01
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min_margin_rad: 0.01
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}
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avoidance {
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enable: false
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gain: 0.2
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margin_ratio: 0.15
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max_push: 0.25
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weight: 0.05
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}
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}
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}
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}
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motion {
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move_j {
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toppra_joint_motion_planner {
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path_type: TOPPRA_PATH_TYPE_QUINTIC
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sample_period_s: 0.001
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grid_size: 150
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high_grid_size: 300
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}
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}
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move_l {
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pinocchio_cartesian_motion_planner {
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sample_period_s: 0.001
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position_gain: 4.0
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rotation_gain: 4.0
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line_deviation_check {
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enable: true
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line_deviation_warn_m: 0.01
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line_deviation_stop_m: 0.03
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line_direction_warn_deg: 20.0
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line_direction_stop_deg: 45.0
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line_direction_reset_deg: 10.0
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line_check_min_distance_m: 0.01
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}
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joint_continuity_check {
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enable: true
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max_joint_delta_rad: 0.05
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max_joint_velocity_rad_s: 10.0
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max_joint_acceleration_rad_s2: 5000.0
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}
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cartesian_step_feasibility_check {
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enable: true
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min_linear_speed_ratio: 0.2
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max_linear_direction_deviation_deg: 45.0
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||||
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
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -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 }
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -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
|
||||
}
|
||||
}
|
||||
|
||||
@ -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" />
|
||||
|
||||
Loading…
Reference in New Issue
Block a user