edb01463ff
docs: move hardware guides into component directories
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Keep the root README concise while documenting MotorService, the Modbus TCP PLC runtime, the motor stack, and AUBO cabinet IO next to their owning code.
2026-07-31 09:39:44 +08:00
b54c2936be
refactor: restore single root configuration
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Remove redundant UME and robot root profiles, keep the canonical cmvr_es configuration tree, and document per-host external deployment configuration.
2026-07-31 09:39:21 +08:00
af67751937
feat: add safe UME teleoperation framework
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Add the UME RobotArm and Damiao CAN-FD path, migrate the legacy UME controller, and introduce guarded cross-machine gRPC teleoperation with lifecycle, authority, configuration, and test coverage.
2026-07-31 08:48:04 +08:00
28f1dd1bf8
feat: add gRPC motor control over Modbus TCP
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Add synchronous and streaming MotorService APIs backed by the PLC Modbus TCP runtime and protocol driver. Extend AUBO JSON commands and isolate vendor libstdc++ paths while keeping build-tree tests runnable.
2026-07-30 15:09:07 +08:00
f443a7ce53
merge: resolve xtkuang_dev into dev
2026-07-27 17:47:30 +08:00
7c9a37f808
update quic service
2026-07-27 16:07:41 +08:00
ed231ace2b
Merge branch 'lgv_dev_collision' into dev
2026-07-27 15:41:51 +08:00
4e9bd398f1
feat(collision): add collision primitive generation tools
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Add URDF and USD collision primitive generation, MeshCat collision visualization, configuration, documentation, and generated Isaac Sim assets for the dual-arm model.
2026-07-27 15:39:54 +08:00
0257ac85ca
feat(collision): add self-collision monitoring task
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Add Pinocchio and Coal based self-collision checking with collision-pair filtering and displacement-based sampling. Integrate a periodic safety task with warning and stop thresholds, plus the simplified collision URDF and runtime configuration.
2026-07-27 15:37:39 +08:00
eb188111b7
Merge branch 'lgv_refator_code' into dev
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# Conflicts:
# request.txt
2026-07-27 10:35:53 +08:00
428ee328de
feat: complete QUIC edge integration
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Vendor MsQuic with build and install support, add DeviceManager status to configurable heartbeats, and report only enabled devices.
Add the local QUIC gateway, protocol coverage, real MsQuic E2E tests, process smoke tests, and updated integration documentation.
2026-07-24 12:35:04 +08:00
1181b2d541
fix: bound gRPC camera stream latency
2026-07-23 14:22:09 +08:00
d40c92b9bf
feat: add QUIC media transport and integrate Hikvision updates
2026-07-23 12:52:30 +08:00
f8961c4e7a
update hikvision camera
2026-07-23 10:40:58 +08:00
b585cb6601
add executeJsonCommand
2026-07-23 09:10:39 +08:00
a0fbeccc19
add hikvision camera controlPtz
2026-07-22 16:35:20 +08:00
53f71bb720
update hikvision camera
2026-07-22 15:58:40 +08:00
1fc5179344
update speaker
2026-07-22 13:48:11 +08:00
0ac04290e4
add stream audio service
2026-07-21 17:04:41 +08:00
d956e538bc
update hikvision camera config
2026-07-21 14:34:29 +08:00
a6f00ceb6c
add hikvision camera
2026-07-21 14:18:44 +08:00
2eefd845f9
add hikvision camera
2026-07-20 17:26:56 +08:00
89b1e1f8f6
update huayan_arm and grpc_service
2026-07-18 14:49:11 +08:00
2cda7be4d4
feat: add EtherCAT DC monitoring and four-motor sync test
2026-07-09 16:17:14 +08:00
d84f84b5ee
docs(ethercat): add EYOU setup guide and scripts
2026-07-09 14:22:35 +08:00
5b94d5c85a
feat(manager): initialize EtherCAT motors from DeviceManager
2026-07-09 14:21:44 +08:00
dc0831eb71
feat(motor): add EYOU EtherCAT CiA402 driver
2026-07-09 14:20:57 +08:00
c9c7e43a70
feat(ethercat): add motor bus runtime
2026-07-09 14:20:23 +08:00
d292360a8d
refactor(motor): unify motor command interface
2026-07-09 14:19:39 +08:00
5c8847d334
feat(proto): add EtherCAT CiA402 motor schema
2026-07-09 14:18:59 +08:00
2fa161f1cc
update src1100 module
2026-07-07 15:54:09 +08:00
6664d181cb
增加aubo_arm更多接口实现
2026-07-06 14:11:19 +08:00
1c70819993
删除aubo_arm.cpp中所有的宏
2026-07-03 10:08:12 +08:00
5015077cb5
fix aubo arm connection error
2026-07-03 08:55:30 +08:00
d04b1920d1
delete agv connect and disconnect interfaces
2026-07-02 17:33:22 +08:00
f217ce96c4
adjust src1100 config
2026-07-02 15:26:20 +08:00
5a6b75938d
实现仙工控制器SRC1100的集成，未测试
2026-07-02 12:30:07 +08:00
33097d0279
fix(huaya):fix stopL interface
2026-07-02 11:24:13 +08:00
27445c00f5
Add Aubo arm support
2026-07-02 08:29:19 +08:00
a5afef198d
Merge branch 'dev' of http://192.168.28.10:18088/SmartBench/cmvr-es into dev
2026-07-01 10:44:38 +08:00
4654eee0c4
test:test all refactor code
2026-07-01 10:41:43 +08:00
94ee690796
fix(moveL): use trajectory velocity and reduce planning overhead
2026-07-01 10:17:42 +08:00
9b6f1b8d21
增加华沿机器人机械臂组建并完成测试
2026-07-01 09:02:11 +08:00
5e53e017a5
refactor(task): update service and task wiring
2026-06-30 16:06:14 +08:00
32fe139015
refactor(devices): remove legacy robot stack and stale tests
2026-06-30 16:05:47 +08:00
7e803452e1
refactor(motion): consolidate IK and motion planners
2026-06-30 16:05:25 +08:00
ca19449545
refactor(camera): unify camera devices
2026-06-30 16:04:59 +08:00
80c8969ce9
refactor(motor): introduce MotorManager and bus runtimes
2026-06-30 16:04:36 +08:00
25d44d5fec
refactor(mujoco): split world and viewer runtime
2026-06-30 16:03:00 +08:00
922f73adb5
refactor(runtime): add shared application runtime
2026-06-30 16:02:28 +08:00
