138 lines
8.6 KiB
XML
138 lines
8.6 KiB
XML
<CMVR-ES>
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<Constants rootDir="/home/xtkuang/projects/cmvr-es"/>
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<Logger dir="../log" level="info" bufSize="5" logSize="1024"/>
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<DeviceManager name="cmvr_es" ver="0.1" description="cmvr edge system version 0.1">
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<Devices>
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<AGV>
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</AGV>
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<Battery>
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</Battery>
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<Camera>
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<!-- <UVCCamera id="cam1" serial="/dev/video6" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
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<!-- <UVCCamera id="cam2" serial="/dev/video14" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
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<!-- <RealsenseCamera id="cam3" serial="243122072252" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
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<RealsenseCamera id="cam4" serial="243122075614" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>
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<!-- <MechMind id="cam5" ip="10.148.108.111" align="true" _2dtype="color"/>-->
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<!-- <RealsenseCamera id="cam6" serial="243122075389" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
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</Camera>
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<DexHand>
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<RH56DFTP id="hand1" default_force="500" default_speed="500" ip_address="10.148.108.115" port="6000">
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<Freedom order="01" default_force="500" default_speed="500" />
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</RH56DFTP>
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<!-- <RH56DFTP id="hand2" default_force="500" default_speed="500" ip_address="10.148.108.113" port="6000">-->
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<!-- <Freedom order="01" default_force="500" default_speed="500" />-->
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<!-- </RH56DFTP>-->
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</DexHand>
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<Robot>
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<!-- <LeftArm id="left_arm" devtype="ti5Robot" />-->
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<!-- <RightArm />-->
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<!-- <Neck/>-->
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<!-- <Humanoid id="hc01" dof="14"-->
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<!-- urdf="/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"-->
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<!-- baseLink="PELVIS_S"-->
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<!-- jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"-->
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<!-- linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S"-->
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<!-- bufferSize="50">-->
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<!-- <CanManger id="" devId="">-->
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<!-- <LeftArmCan id = " " devId = " " channelId ="0">-->
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<!-- <Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="28" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="29" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- </LeftArmCan>-->
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<!-- <RightArmCan id = " " devId = " " channelId ="1">-->
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<!-- <Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="21" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>-->
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<!-- <Motor id="22" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>-->
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<!-- </RightArmCan>-->
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<!-- <WaistCan id = " " devId = " " channelId ="2">-->
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<!-- <Motor id="14" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- </WaistCan>-->
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<!-- </CanManger>-->
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<!-- </Humanoid>-->
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</Robot>
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<BioHead>
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<!-- <esp32 id="bio_head" serial="/dev/ttyUSB0" ctrlFreq="50">-->
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<!-- <!– 配置左眉毛，舵机通道 0~3 –>-->
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<!-- <EyeBrow serial="64:0~3" offest="90 90 90 90"-->
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<!-- jLmtUp="170 170 170 170" jLmtLow="10 10 10 10"/>-->
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<!-- <!– 配置眼睛，舵机通道 4~9 –>-->
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<!-- <Eye serial="64:4~9" offest="90 90 90 90 90 90"-->
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<!-- jLmtUp="170 170 170 170 170 170" jLmtLow="10 10 10 10 10 10"/>-->
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<!-- <!– 配置嘴巴，舵机通道 0~8 –>-->
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<!-- <Mouth serial="65:0~8" offest="90 90 90 90 90 90 90 90 90"-->
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<!-- jLmtUp="170 170 170 170 170 170 170 170 170" jLmtLow="10 10 10 10 10 10 10 10 10"/>-->
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<!-- </esp32>-->
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</BioHead >
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<Microphone>
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<!-- <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>-->
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<ffmpegMicPhone id="mic2" alsa="hw:1" channels="1" sampleRate="44100" volume="80"/>
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</Microphone>
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<Speaker>
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<ffmpegSpeaker id="spk1" serial="" alas="hw:0,0" channels="2" sampleRate="44100" softResample="1" latency="500000" volume="80"/>
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</Speaker>
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<Canbus>
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<!-- <rightArmCan id="can1" brand="SOCKET_CAN_RAW" type="USB_CARD" channel_id="CHANNEL_ID_ZERO" interface="NATIVE" baudrate="BCAN_BAUDRATE_500K"/>-->
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</Canbus>
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</Devices>
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<HighLevelController>
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<BioHeadExpre headId="bio_head" />
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<CartesianWBC urdf="" />
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<ScreenTouch robotID="" DexhandID="" />
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</HighLevelController>
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</DeviceManager>
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<MonitorManager>
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<DiskMonitor id="file_monitor" freq="1">
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<!-- <Folder fileDir="/home/share/assets/audio" maxVolume="1000"/>-->
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<!-- <Folder fileDir="/home/share/assets/image" maxVolume="1000"/>-->
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<!-- <Folder fileDir="/home/share/assets/video" maxVolume="1000"/>-->
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<!-- <Folder fileDir="../log" maxVolume="1000"/>-->
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</DiskMonitor>
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<JointMonitor id="robot_joint_monitor" freq="200">
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<RobotJoint robotID="left_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
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</JointMonitor>
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</MonitorManager>
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<gRPCServer port="50060">
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</gRPCServer>
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</CMVR-ES> |