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feat: 加载STL模型

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zhanghao 2025-12-09 10:33:05 +08:00
parent 8ca84bbbad
commit 11f369452c
56 changed files with 2082 additions and 942 deletions
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2
package.json
View File

@ -39,6 +39,8 @@
"socket.io-client": "^4.8.1",
"sockjs-client": "^1.6.1",
"splitpanes": "3.1.5",
"three": "^0.181.2",
"urdf-loader": "^0.12.6",
"uuid": "^11.1.0",
"vue": "3.4.31",
"vue-cropper": "1.1.1",

660
public/models/dual_arm.urdf Normal file
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@ -0,0 +1,660 @@
<?xml version="1.0" encoding="utf-8"?>
<robot name="dual_arm">
<mujoco>
<compiler
meshdir="meshes"
balanceinertia="true"
discardvisual="false" />
</mujoco>
<link name="base_link">
<visual>
<origin xyz="0 0 0.6" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.05" length="1.2"/>
</geometry>
<material name="gray">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.6" rpy="0 0 0"/>
<geometry>
<cylinder radius="0.05" length="1.2"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="25.4469"/>
<inertia
ixx="3.06953"
ixy="0.0"
ixz="0.0"
iyy="3.06953"
iyz="0.0"
izz="0.03181"/>
</inertial>
</link>
<joint name="base_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 1.2"/>
<parent link="base_link"/>
<child link="PELVIS_S"/>
</joint>
<link name="PELVIS_S">
<inertial>
<origin xyz="3.78529087037144E-05 3.81781425684836E-07 0.0386396273530852" rpy="0 0 0" />
<mass value="2.10624590271277" />
<inertia
ixx="0.00165706865324979"
ixy="3.13663044821662E-09"
ixz="6.84209533216046E-07"
iyy="0.00136736758630241"
iyz="-1.01014607878816E-10"
izz="0.00168295663089359" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/PELVIS_S.STL" />
</geometry>
<material name="">
<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/PELVIS_S.STL" />
</geometry>
</collision>
</link>
<link name="L_SHOULDER_P_S">
<inertial>
<origin xyz="-0.00982258725282134 0.0704593083751867 1.15261874861217E-06" rpy="0 0 0" />
<mass value="0.880737519698403" />
<inertia
ixx="0.000583190308378148"
ixy="-1.53153074560473E-05"
ixz="6.58466471754072E-09"
iyy="0.000445532440067177"
iyz="6.37001404038516E-09"
izz="0.000465648071069952" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_P_S.STL" />
</geometry>
<material name="">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_P_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_SHOULDER_P" type="revolute">
<origin xyz="0 0.0945 0.042" rpy="0 0 0" />
<parent link="PELVIS_S" />
<child link="L_SHOULDER_P_S" />
<axis xyz="0 1 0" />
<limit lower="-1.57" upper="1.57" effort="120" velocity="3.351" />
</joint>
<link name="L_SHOULDER_R_S">
<inertial>
<origin xyz="-0.0346025282975857 0.091739327988169 -1.67085072999562E-08" rpy="0 0 0" />
<mass value="0.594788424442483" />
<inertia
ixx="0.000380970396712656"
ixy="4.80751844573946E-05"
ixz="-1.34913746586865E-11"
iyy="0.000320962178597474"
iyz="-1.00039763442409E-09"
izz="0.000414771047901155" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_R_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_R_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_SHOULDER_R" type="revolute">
<origin xyz="0.035 0.0765 0" rpy="0 0 0" />
<parent link="L_SHOULDER_P_S" />
<child link="L_SHOULDER_R_S" />
<axis xyz="1 0 0" />
<limit lower="-2" upper="2" effort="120" velocity="3.351" />
</joint>
<link name="L_SHOULDER_Y_S">
<inertial>
<origin xyz="-0.00440976862014801 0.0863620459174068 9.50748668682166E-09"
rpy="0 0 0" />
<mass value="0.563406026626801" />
<inertia
ixx="0.000327003834287552"
ixy="-1.8057438966771E-05"
ixz="7.28778136267901E-10"
iyy="0.000213830709361531"
iyz="1.49273668517817E-10"
izz="0.000297341029639189" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_Y_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_Y_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_SHOULDER_Y" type="revolute">
<origin xyz="-0.035 0.1475 0" rpy="0 0 0" />
<parent link="L_SHOULDER_R_S" />
<child link="L_SHOULDER_Y_S" />
<axis xyz="0 1 0" />
<limit lower="-2.18" upper="0" effort="80" velocity="3.8758" />
</joint>
<link name="L_ELBOW_R_S">
<inertial>
<origin xyz="-0.0335624237303443 0.0603199964106564 2.99655911639718E-07" rpy="0 0 0" />
<mass value="0.393571904406493" />
<inertia
ixx="0.00017277119386253"
ixy="2.34549801867355E-05"
ixz="-1.90560556659271E-09"
iyy="0.000155340245267897"
iyz="8.82493073600007E-09"
izz="0.00018104232734159" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_ELBOW_R_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_ELBOW_R_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_ELBOW_R" type="revolute">
<origin xyz="0.034 0.1025 0" rpy="0 0 0" />
<parent link="L_SHOULDER_Y_S" />
<child link="L_ELBOW_R_S" />
<axis xyz="1 0 0" />
<limit lower="-2.05" upper="0" effort="50" velocity="4.71" />
</joint>
<link name="L_WRIST_P_S">
<inertial>
<origin xyz="-1.39659173115092E-10 0.0675972604744393 0.019200551565574" rpy="0 0 0" />
<mass value="0.442332465815496" />
<inertia
ixx="0.000476754055455895"
ixy="-4.61505824713347E-15"
ixz="6.03808112272229E-18"
iyy="0.000103466585850499"
iyz="-4.88426705501198E-05"
izz="0.000482956345754213" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_P_S.STL" />
</geometry>
<material name="">
<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_P_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_WRIST_P" type="revolute">
<origin xyz="-0.034 0.0965 0" rpy="0 0 0" />
<parent link="L_ELBOW_R_S" />
<child link="L_WRIST_P_S" />
<axis xyz="0 1 0" />
<limit lower="0" upper="3.14" effort="50" velocity="4.71" />
</joint>
<link name="L_WRIST_Y_S">
<inertial>
<origin xyz="-0.00464135887331864 -5.06426789392833E-10 -0.0341253783666609" rpy="0 0 0" />
<mass value="0.23573847772002" />
<inertia
ixx="5.10686940455785E-05"
ixy="7.45706654358429E-16"
ixz="6.2619568923368E-06"
iyy="6.00636019624519E-05"
iyz="1.27989654155383E-16"
izz="5.32182903609189E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_Y_S.STL" />
</geometry>
<material name="">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_Y_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_WRIST_Y" type="revolute">
<origin xyz="0 0.1525 0.039" rpy="0 0 0" />
<parent link="L_WRIST_P_S" />
<child link="L_WRIST_Y_S" />
<axis xyz="0 0 1" />
<limit lower="-0.78" upper="0.78" effort="50" velocity="0.79" />
</joint>
<link name="L_WRIST_R_S">
<inertial>
<origin xyz="-0.0161477357620243 0.0955046558857351 -0.00499392489444117" rpy="0 0 0" />
<mass value="0.504894112043562" />
<inertia
ixx="0.000186833711781125"
ixy="-3.99488705622731E-06"
ixz="-1.51920720398336E-06"
iyy="0.000179960980467837"
iyz="3.6992669535716E-06"
izz="0.000280756101568308" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_R_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_R_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_WRIST_R" type="revolute">
<origin xyz="0.0258 0 -0.039" rpy="0 0 0" />
<parent link="L_WRIST_Y_S" />
<child link="L_WRIST_R_S" />
<axis xyz="1 0 0" />
<limit lower="-1.57" upper="0.26" effort="50" velocity="4.71" />
</joint>
<link name="R_SHOULDER_P_S">
<inertial>
<origin xyz="-0.00982258725282141 -0.0704593093873431 -1.15069920925137E-06" rpy="0 0 0" />
<mass value="0.880737519698404" />
<inertia
ixx="0.000583190308378149"
ixy="1.53153074560471E-05"
ixz="-6.58466471736542E-09"
iyy="0.000445532440067178"
iyz="6.37001403998779E-09"
izz="0.000465648071069953" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_P_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_P_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_SHOULDER_P" type="revolute">
<origin xyz="0 -0.0945 0.042" rpy="0 0 0" />
<parent link="PELVIS_S" />
<child link="R_SHOULDER_P_S" />
<axis xyz="0 -1 0" />
<limit lower="-3.14" upper="3.14" effort="120" velocity="3.351" />
</joint>
<link name="R_SHOULDER_R_S">
<inertial>
<origin xyz="-0.0346025282975784 -0.09173932900033 1.86280643132974E-08" rpy="0 0 0" />
<mass value="0.59478842444248" />
<inertia
ixx="0.000380970396712653"
ixy="-4.80751844573946E-05"
ixz="1.34913746041655E-11"
iyy="0.000320962178597472"
iyz="-1.00039763417375E-09"
izz="0.000414771047901152" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_R_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_R_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_SHOULDER_R" type="revolute">
<origin xyz="0.035 -0.0765 0" rpy="0 0 0" />
<parent link="R_SHOULDER_P_S" />
<child link="R_SHOULDER_R_S" />
<axis xyz="1 0 0" />
<limit lower="-0.78" upper="1.57" effort="120" velocity="3.351" />
</joint>
<link name="R_SHOULDER_Y_S">
<inertial>
<origin xyz="-0.00440976862014946 -0.0863620469295699 -7.58791862676134E-09" rpy="0 0 0" />
<mass value="0.563406026626801" />
<inertia
ixx="0.000327003834287551"
ixy="1.80574389667711E-05"
ixz="-7.28778136077729E-10"
iyy="0.000213830709361532"
iyz="1.49273668428957E-10"
izz="0.000297341029639189" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_Y_S.STL" />
</geometry>
<material
name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_Y_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_SHOULDER_Y" type="revolute">
<origin xyz="-0.035 -0.1475 0" rpy="0 0 0" />
<parent link="R_SHOULDER_R_S" />
<child link="R_SHOULDER_Y_S" />
<axis xyz="0 -1 0" />
<limit lower="-3.14" upper="3.14" effort="80" velocity="3.8758" />
</joint>
<link name="R_ELBOW_R_S">
<inertial>
<origin xyz="-0.0335624237303424 -0.0603199974228191 -2.97736340082455E-07" rpy="0 0 0" />
<mass value="0.393571904406492" />
<inertia
ixx="0.000172771193862529"
ixy="-2.34549801867353E-05"
ixz="1.90560556668771E-09"
iyy="0.000155340245267897"
iyz="8.82493073602971E-09"
izz="0.00018104232734159" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_ELBOW_R_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_ELBOW_R_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_ELBOW_R" type="revolute">
<origin xyz="0.034 -0.1025 0" rpy="0 0 0" />
<parent link="R_SHOULDER_Y_S" />
<child link="R_ELBOW_R_S" />
<axis xyz="1 0 0" />
<limit lower="0" upper="2.05" effort="80" velocity="3.8758" />
</joint>
<link name="R_WRIST_P_S">
<inertial>
<origin xyz="-1.39656577968772E-10 -0.0675972614865965 0.0192005515655728" rpy="0 0 0" />
<mass value="0.442332465815497" />
<inertia
ixx="0.000476754055455896"
ixy="-4.61462558956188E-15"
ixz="-5.91762926004267E-18"
iyy="0.0001034665858505"
iyz="4.88426705501212E-05"
izz="0.000482956345754214" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_P_S.STL" />
</geometry>
<material name="">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_P_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_WRIST_P" type="revolute">
<origin xyz="-0.034 -0.0965 0" rpy="0 0 0" />
<parent link="R_ELBOW_R_S" />
<child link="R_WRIST_P_S" />
<axis xyz="0 -1 0" />
<limit lower="-3.14" upper="3.14" effort="50" velocity="4.71" />
</joint>
<link name="R_WRIST_Y_S">
<inertial>
<origin xyz="-0.00464135887330083 -5.06426456325926E-10 -0.0341253783666614" rpy="0 0 0" />
<mass value="0.235738477720019" />
<inertia
ixx="5.1068694045578E-05"
ixy="7.45771487459288E-16"
ixz="6.26195689233664E-06"
iyy="6.00636019624515E-05"
iyz="1.27828046342987E-16"
izz="5.32182903609188E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_Y_S.STL" />
</geometry>
<material name="">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_Y_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_WRIST_Y" type="revolute">
<origin xyz="0 -0.1525 0.039" rpy="0 0 0" />
<parent link="R_WRIST_P_S" />
<child link="R_WRIST_Y_S" />
<axis xyz="0 0 1" />
<limit lower="-0.78" upper="0.78" effort="50" velocity="0.79" />
</joint>
<link name="R_WRIST_R_S">
<inertial>
<origin xyz="-0.0201642233698132 -0.11074968386657 -0.00598955339232021" rpy="0 0 0" />
<mass value="0.504366058218534" />
<inertia
ixx="0.000185559065855467"
ixy="5.75889766751509E-06"
ixz="2.40683898454438E-06"
iyy="0.000131246007872084"
iyz="1.60533277040148E-06"
izz="0.000271800951396149" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_R_S.STL" />
</geometry>
<material
name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_R_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_WRIST_R" type="revolute">
<origin xyz="0.03 0 -0.039" rpy="0 0 0" />
<parent link="R_WRIST_Y_S" />
<child link="R_WRIST_R_S" />
<axis xyz="1 0 0" />
<limit lower="-0.26" upper="1.57" effort="50" velocity="4.71" />
</joint>
<link name="R_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"/> <!-- 绿色 -->
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
</link>
<joint name="R_FINGER_TIP_FIXED" type="fixed">
<origin xyz="0.00684256 -0.284077 0.00801525" rpy="0 0 0"/>
<parent link="R_WRIST_R_S"/>
<child link="R_FINGER_TIP"/>
<axis xyz="0 0 1"/>
</joint>
<link name="R_CAM">
<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 0 1"/> <!-- 绿色 -->
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
</link>
<joint name="R_CAM_FIXED" type="fixed">
<origin xyz="-0.01212 -0.17655 0.07506" rpy="-1.5707963267 0 3.1415926535"/>
<parent link="R_WRIST_R_S"/>
<child link="R_CAM"/>
<axis xyz="0 0 1"/>
</joint>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<robot name="left_arm">
<mujoco>
<compiler
meshdir="meshes"
balanceinertia="true"
discardvisual="false" />
</mujoco>
<link name="base_link">
<visual>
<geometry>
<cylinder radius="0.05" length="1.2"/>
</geometry>
<material name="gray">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
</visual>
<collision>
<geometry>
<cylinder radius="0.05" length="1.2"/>
</geometry>
</collision>
<inertial>
<mass value="20.0"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="base_fixed" type="fixed">
<origin rpy="0 0 0.0" xyz="0 0 0.6"/>
<parent link="base_link"/>
<child link="PELVIS_S"/>
<axis xyz="0 0 0"/>
</joint>
<link name="PELVIS_S">
<inertial>
<origin xyz="3.78529087037144E-05 3.81781425684836E-07 0.0386396273530852" rpy="0 0 0" />
<mass value="2.10624590271277" />
<inertia ixx="0.00165706865324979" ixy="3.13663044821662E-09" ixz="6.84209533216046E-07" iyy="0.00136736758630241" iyz="-1.01014607878816E-10" izz="0.00168295663089359" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/PELVIS_S.STL" />
</geometry>
<material name="">
<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/PELVIS_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_SHOULDER_P" type="revolute">
<origin xyz="0 0.0945 0.042" rpy="0 0 0" />
<parent link="PELVIS_S" />
<child link="L_SHOULDER_P_S" />
<axis xyz="0 1 0" />
<limit lower="-3.14" upper="3.14" effort="100" velocity="3.351" />
</joint>
<link name="L_SHOULDER_P_S">
<inertial>
<origin xyz="-0.00982258725282134 0.0704593083751867 1.15261874861217E-06" rpy="0 0 0" />
<mass value="0.880737519698403" />
<inertia ixx="0.000583190308378148" ixy="-1.53153074560473E-05" ixz="6.58466471754072E-09" iyy="0.000445532440067177" iyz="6.37001404038516E-09" izz="0.000465648071069952" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_P_S.STL" />
</geometry>
<material
name="">
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_P_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_SHOULDER_R" type="revolute">
<origin xyz="0.035 0.0765 0" rpy="0 0 0" />
<parent link="L_SHOULDER_P_S" />
<child link="L_SHOULDER_R_S" />
<axis xyz="1 0 0" />
<limit lower="-3.14" upper="3.14" effort="100" velocity="3.351" />
</joint>
<link name="L_SHOULDER_R_S">
<inertial>
<origin xyz="-0.0346025282975857 0.091739327988169 -1.67085072999562E-08" rpy="0 0 0" />
<mass value="0.594788424442483" />
<inertia ixx="0.000380970396712656" ixy="4.80751844573946E-05" ixz="-1.34913746586865E-11" iyy="0.000320962178597474" iyz="-1.00039763442409E-09" izz="0.000414771047901155" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_R_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_R_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_SHOULDER_Y" type="revolute">
<origin xyz="-0.035 0.1475 0" rpy="0 0 0" />
<parent link="L_SHOULDER_R_S" />
<child link="L_SHOULDER_Y_S" />
<axis xyz="0 1 0" />
<limit lower="-3.14" upper="3.14" effort="49" velocity="3.8758" />
</joint>
<link name="L_SHOULDER_Y_S">
<inertial>
<origin xyz="-0.00440976862014801 0.0863620459174068 9.50748668682166E-09" rpy="0 0 0" />
<mass value="0.563406026626801" />
<inertia ixx="0.000327003834287552" ixy="-1.8057438966771E-05" ixz="7.28778136267901E-10" iyy="0.000213830709361531" iyz="1.49273668517817E-10" izz="0.000297341029639189" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_Y_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_Y_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_ELBOW_R" type="revolute">
<origin xyz="0.034 0.1025 0" rpy="0 0 0" />
<parent link="L_SHOULDER_Y_S" />
<child link="L_ELBOW_R_S" />
<axis xyz="1 0 0" />
<limit lower="-3.14" upper="3.14" effort="49" velocity="3.8758" />
</joint>
<link name="L_ELBOW_R_S">
<inertial>
<origin xyz="-0.0335624237303443 0.0603199964106564 2.99655911639718E-07" rpy="0 0 0" />
<mass value="0.393571904406493" />
<inertia ixx="0.00017277119386253" ixy="2.34549801867355E-05" ixz="-1.90560556659271E-09" iyy="0.000155340245267897" iyz="8.82493073600007E-09" izz="0.00018104232734159" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_ELBOW_R_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_ELBOW_R_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_WRIST_P" type="revolute">
<origin xyz="-0.034 0.0965 0" rpy="0 0 0" />
<parent link="L_ELBOW_R_S" />
<child link="L_WRIST_P_S" />
<axis xyz="0 1 0" />
<limit lower="-3.14" upper="3.14" effort="26" velocity="4.19" />
</joint>
<link name="L_WRIST_P_S">
<inertial>
<origin xyz="-1.39659173115092E-10 0.0675972604744393 0.019200551565574" rpy="0 0 0" />
<mass value="0.442332465815496" />
<inertia ixx="0.000476754055455895" ixy="-4.61505824713347E-15" ixz="6.03808112272229E-18" iyy="0.000103466585850499" iyz="-4.88426705501198E-05" izz="0.000482956345754213" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_P_S.STL" />
</geometry>
<material name="">
<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_P_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_WRIST_Y" type="revolute">
<origin xyz="0 0.1525 0.039" rpy="0 0 0" />
<parent link="L_WRIST_P_S" />
<child link="L_WRIST_Y_S" />
<axis xyz="0 0 1" />
<limit lower="-3.14" upper="3.14" effort="26" velocity="4.71" />
</joint>
<link name="L_WRIST_Y_S">
<inertial>
<origin xyz="-0.00464135887331864 -5.06426789392833E-10 -0.0341253783666609" rpy="0 0 0" />
<mass value="0.23573847772002" />
<inertia ixx="5.10686940455785E-05" ixy="7.45706654358429E-16" ixz="6.2619568923368E-06" iyy="6.00636019624519E-05" iyz="1.27989654155383E-16" izz="5.32182903609189E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_Y_S.STL" />
</geometry>
<material name="">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_Y_S.STL" />
</geometry>
</collision>
</link>
<joint name="L_WRIST_R" type="revolute">
<origin xyz="0.0258 0 -0.039" rpy="0 0 0" />
<parent link="L_WRIST_Y_S" />
<child link="L_WRIST_R_S" />
<axis xyz="1 0 0" />
<limit lower="-3.14" upper="3.14" effort="26" velocity="4.71" />
</joint>
<link name="L_WRIST_R_S">
<inertial>
<origin xyz="-0.0161477357620243 0.0955046558857351 -0.00499392489444117" rpy="0 0 0" />
<mass value="0.504894112043562" />
<inertia ixx="0.000186833711781125" ixy="-3.99488705622731E-06" ixz="-1.51920720398336E-06" iyy="0.000179960980467837" iyz="3.6992669535716E-06" izz="0.000280756101568308" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_R_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_R_S.STL" />
</geometry>
</collision>
</link>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<robot name="right_arm">
<mujoco>
<compiler
meshdir="meshes"
balanceinertia="true"
discardvisual="false" />
</mujoco>
<link name="PELVIS_S">
<inertial>
<origin xyz="3.78529e-05 3.81781e-07 0.0386396" rpy="0 0 0"/>
<mass value="2.10624590271277"/>
<inertia
ixx="0.00165706865324979" ixy="3.13663e-09" ixz="6.84210e-07"
iyy="0.00136736758630241" iyz="-1.01015e-10" izz="0.00168295663089359"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/PELVIS_S.STL"/>
</geometry>
<material name="light_gray">
<color rgba="0.698 0.698 0.698 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/PELVIS_S.STL"/>
</geometry>
</collision>
</link>
<link name="R_SHOULDER_P_S">
<inertial>
<origin xyz="-0.00982258725282141 -0.0704593093873431 -1.15069920925137E-06" rpy="0 0 0" />
<mass value="0.880737519698404" />
<inertia
ixx="0.000583190308378149"
ixy="1.53153074560471E-05"
ixz="-6.58466471736542E-09"
iyy="0.000445532440067178"
iyz="6.37001403998779E-09"
izz="0.000465648071069953" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_P_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_P_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_SHOULDER_P" type="revolute">
<origin xyz="0 -0.0945 0.042" rpy="0 0 0" />
<parent link="PELVIS_S" />
<child link="R_SHOULDER_P_S" />
<axis xyz="0 -1 0" />
<limit lower="-1.57" upper="1.57" effort="120" velocity="3.351" />
</joint>
<link name="R_SHOULDER_R_S">
<inertial>
<origin xyz="-0.0346025282975784 -0.09173932900033 1.86280643132974E-08" rpy="0 0 0" />
<mass value="0.59478842444248" />
<inertia
ixx="0.000380970396712653" ixy="-4.80751844573946E-05" ixz="1.34913746041655E-11"
iyy="0.000320962178597472" iyz="-1.00039763417375E-09" izz="0.000414771047901152" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_R_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_R_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_SHOULDER_R" type="revolute">
<origin xyz="0.035 -0.0765 0" rpy="0 0 0" />
<parent link="R_SHOULDER_P_S" />
<child link="R_SHOULDER_R_S" />
<axis xyz="1 0 0" />
<limit lower="-2" upper="2" effort="120" velocity="3.351" />
</joint>
<link name="R_SHOULDER_Y_S">
<inertial>
<origin xyz="-0.00440976862014946 -0.0863620469295699 -7.58791862676134E-09" rpy="0 0 0" />
<mass value="0.563406026626801" />
<inertia
ixx="0.000327003834287551"
ixy="1.80574389667711E-05"
ixz="-7.28778136077729E-10"
iyy="0.000213830709361532"
iyz="1.49273668428957E-10"
izz="0.000297341029639189" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_Y_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_Y_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_SHOULDER_Y" type="revolute">
<origin xyz="-0.035 -0.1475 0" rpy="0 0 0" />
<parent link="R_SHOULDER_R_S" />
<child link="R_SHOULDER_Y_S" />
<axis xyz="0 -1 0" />
<limit lower="0" upper="3.14" effort="80" velocity="3.8758" />
</joint>
<link name="R_ELBOW_R_S">
<inertial>
<origin xyz="-0.0335624237303424 -0.0603199974228191 -2.97736340082455E-07" rpy="0 0 0" />
<mass value="0.393571904406492" />
<inertia
ixx="0.000172771193862529"
ixy="-2.34549801867353E-05"
ixz="1.90560556668771E-09"
iyy="0.000155340245267897"
iyz="8.82493073602971E-09"
izz="0.00018104232734159" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_ELBOW_R_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_ELBOW_R_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_ELBOW_R" type="revolute">
<origin xyz="0.034 -0.1025 0" rpy="0 0 0" />
<parent link="R_SHOULDER_Y_S" />
<child link="R_ELBOW_R_S" />
<axis xyz="1 0 0" />
<limit lower="0" upper="2.18" effort="80" velocity="3.8758" />
</joint>
<link name="R_WRIST_P_S">
<inertial>
<origin xyz="-1.39656577968772E-10 -0.0675972614865965 0.0192005515655728" rpy="0 0 0" />
<mass value="0.442332465815497" />
<inertia
ixx="0.000476754055455896"
ixy="-4.61462558956188E-15"
ixz="-5.91762926004267E-18"
iyy="0.0001034665858505"
iyz="4.88426705501212E-05"
izz="0.000482956345754214" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_P_S.STL" />
</geometry>
<material name="">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_P_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_WRIST_P" type="revolute">
<origin xyz="-0.034 -0.0965 0" rpy="0 0 0" />
<parent link="R_ELBOW_R_S" />
<child link="R_WRIST_P_S" />
<axis xyz="0 -1 0" />
<limit lower="-3.14" upper="0" effort="50" velocity="4.71" />
</joint>
<link name="R_WRIST_Y_S">
<inertial>
<origin xyz="-0.00464135887330083 -5.06426456325926E-10 -0.0341253783666614" rpy="0 0 0" />
<mass value="0.235738477720019" />
<inertia
ixx="5.1068694045578E-05"
ixy="7.45771487459288E-16"
ixz="6.26195689233664E-06"
iyy="6.00636019624515E-05"
iyz="1.27828046342987E-16"
izz="5.32182903609188E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_Y_S.STL" />
</geometry>
<material name="">
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_Y_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_WRIST_Y" type="revolute">
<origin xyz="0 -0.1525 0.039" rpy="0 0 0" />
<parent link="R_WRIST_P_S" />
<child link="R_WRIST_Y_S" />
<axis xyz="0 0 1" />
<limit lower="0" upper="0.78" effort="50" velocity="0.79" />
</joint>
<link name="R_WRIST_R_S">
<inertial>
<origin xyz="-0.0201642233698132 -0.11074968386657 -0.00598955339232021" rpy="0 0 0" />
<mass value="0.204366058218534" />
<inertia
ixx="0.000185559065855467"
ixy="5.75889766751509E-06"
ixz="2.40683898454438E-06"
iyy="0.000131246007872084"
iyz="1.60533277040148E-06"
izz="0.000271800951396149" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_R_S.STL" />
</geometry>
<material name="">
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_R_S.STL" />
</geometry>
</collision>
</link>
<joint name="R_WRIST_R" type="revolute">
<origin xyz="0.03 0 -0.039" rpy="0 0 0" />
<parent link="R_WRIST_Y_S" />
<child link="R_WRIST_R_S" />
<axis xyz="1 0 0" />
<limit lower="-0.26" upper="1.57" effort="50" velocity="4.71" />
</joint>
<link name="R_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="0.002"/>
</geometry>
<material name="">
<color rgba="0 1 0 1"/> <!-- 绿色 -->
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
</link>
<joint name="R_FINGER_TIP_FIXED" type="fixed">
<origin xyz="-0.01212 -0.17655 0.07506" rpy="3.14159 0 -1.5708"/>
<parent link="R_WRIST_R_S"/>
<child link="R_FINGER_TIP"/>
</joint>
</robot>

133
src/views/device/register/components/MechanicalArm/components/JointControl.vue Normal file
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<template>
<div class="container">
<div class="joint-control" v-for="joint in jointList" :key="joint.name">
<div class="joint-header">
<span class="joint-name">{{ joint.displayName }}</span>
<span class="joint-type">{{ joint.type.toUpperCase() }}</span>
</div>
<div class="joint-info">
<span class="angle-display">{{ formatAngle(joint.value) }}</span>
<span class="limits">[{{ formatAngle(joint.min) }}, {{ formatAngle(joint.max) }}]</span>
</div>
<div class="slider-container">
<el-slider size="small" v-model="joint.value" :min="joint.min" :max="joint.max" :step="joint.step" @input="(value) => updateJointAngle(joint.name, value)"/>
<div class="slider-labels">
<span>{{ formatAngle(joint.min) }}</span>
<span>{{ formatAngle(joint.max) }}</span>
</div>
</div>
</div>
</div>
</template>
<script setup>
const props = defineProps({
jointList: {
type: Array,
default: () => []
}
})
const emits = defineEmits(['updateJointAngle'])
const updateJointAngle = (name, value) => {
emits('updateJointAngle', { name, value })
}
/**
* 角度格式化
*/
const formatAngle = (radians) => {
const degrees = (radians * 180 / Math.PI).toFixed(1)
return `${degrees}°`
}
</script>
<style lang="scss" scoped>
.container {
width: 100%;
height: 100%;
.joint-control {
border-radius: 6px;
padding: 15px;
margin-bottom: 15px;
border: 1px solid #cfcfcf;
.joint-header {
display: flex;
justify-content: space-between;
align-items: center;
margin-bottom: 10px;
.joint-name {
font-weight: 600;
font-size: 14px;
}
.joint-type {
font-size: 11px;
background: rgba(52, 152, 219, 0.3);
color: #3498db;
padding: 3px 8px;
border-radius: 12px;
font-weight: 500;
}
}
.joint-info {
display: flex;
justify-content: space-between;
margin-bottom: 10px;
font-size: 13px;
.angle-display {
color: #f1c40f;
font-weight: 600;
font-size: 14px;
}
.limits {
color: #95a5a6;
font-size: 11px;
font-family: monospace;
}
}
.slider-container {
padding: 0 5px;
.joint-slider {
width: 100%;
height: 8px;
-webkit-appearance: none;
background: #34495e;
border-radius: 4px;
outline: none;
margin-bottom: 8px;
cursor: pointer;
&::-webkit-slider-thumb {
-webkit-appearance: none;
width: 20px;
height: 20px;
border-radius: 50%;
background: #ecf0f1;
cursor: pointer;
border: 2px solid #3498db;
box-shadow: 0 2px 6px rgba(0, 0, 0, 0.3);
transition: all 0.2s;
}
}
.slider-labels {
display: flex;
justify-content: space-between;
font-size: 11px;
color: #7f8c8d;
margin-top: 5px;
}
}
}
}
</style>

394
src/views/device/register/components/MechanicalArm/components/UrdfViewer.vue Normal file
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<template>
<!-- 模板部分保持不变 -->
<div class="urdf-viewer-container">
<div ref="viewerContainer" class="urdf-viewer"></div>
<div v-if="isLoading" class="loading-overlay">
<div class="loading-spinner"></div>
<p>正在解析URDF并加载模型...</p>
</div>
</div>
</template>
<script setup>
import { ref, onMounted, onBeforeUnmount, watch, reactive, computed } from 'vue'
import * as THREE from 'three'
import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js'
import URDFLoader from 'urdf-loader'
const props = defineProps({
basePath: { type: String, required: true },
urdfPath: { type: String, required: true },
modelColor: { type: String, default: '#cbcbcb' },
showJointLimits: { type: Boolean, default: true }
})
const emits = defineEmits(['computedChange'])
const viewerContainer = ref(null)
const isLoading = ref(false)
// Three.js 核心对象
let scene = null
let camera = null
let renderer = null
let controls = null
let robot = null
// 关节控制相关状态
const jointControls = reactive([])
const availableJoints = ref({})
/**
* 从URDF XML中提取关节信息（使用浏览器原生DOMParser）
*/
const extractJointInfoFromURDF = (urdfXml) => {
try {
const joints = []
const parser = new DOMParser()
const xmlDoc = parser.parseFromString(urdfXml, 'text/xml')
// 检查解析错误
const parseError = xmlDoc.getElementsByTagName('parsererror')
if (parseError.length > 0) {
throw new Error('XML解析错误: ' + parseError[0].textContent)
}
// 获取所有joint元素
const jointElements = xmlDoc.getElementsByTagName('joint')
for (let i = 0; i < jointElements.length; i++) {
const jointElement = jointElements[i]
const name = jointElement.getAttribute('name')
const type = jointElement.getAttribute('type')
// 只处理可动关节
if (type && ['revolute', 'continuous', 'prismatic'].includes(type)) {
const jointInfo = {
name: name,
displayName: name.replace(/_/g, ' '),
type: type,
value: 0,
step: 0.01
}
// 提取关节限制
const limitElements = jointElement.getElementsByTagName('limit')
if (limitElements.length > 0) {
const limit = limitElements[0]
const lower = limit.getAttribute('lower')
const upper = limit.getAttribute('upper')
const effort = limit.getAttribute('effort')
const velocity = limit.getAttribute('velocity')
// 处理旋转关节
if (type === 'revolute' || type === 'continuous') {
jointInfo.min = lower !== null ? parseFloat(lower) :
(type === 'revolute' ? -Math.PI : -Math.PI)
jointInfo.max = upper !== null ? parseFloat(upper) :
(type === 'revolute' ? Math.PI : Math.PI)
}
// 处理平移关节
else if (type === 'prismatic') {
jointInfo.min = lower !== null ? parseFloat(lower) : -1.0
jointInfo.max = upper !== null ? parseFloat(upper) : 1.0
jointInfo.step = 0.001
}
if (effort) jointInfo.maxEffort = parseFloat(effort)
if (velocity) jointInfo.maxVelocity = parseFloat(velocity)
} else {
// 如果没有限制，设置默认范围
if (type === 'continuous') {
jointInfo.min = -Math.PI
jointInfo.max = Math.PI
} else if (type === 'revolute') {
jointInfo.min = -Math.PI / 2
jointInfo.max = Math.PI / 2
} else if (type === 'prismatic') {
jointInfo.min = -0.5
jointInfo.max = 0.5
}
}
// 提取关节轴
const axisElements = jointElement.getElementsByTagName('axis')
if (axisElements.length > 0) {
const axis = axisElements[0].getAttribute('xyz')
if (axis) {
const axisValues = axis.split(' ').map(Number)
jointInfo.axis = new THREE.Vector3(...axisValues)
}
}
// 提取关节原点
const originElements = jointElement.getElementsByTagName('origin')
if (originElements.length > 0) {
const origin = originElements[0]
const xyz = origin.getAttribute('xyz')
const rpy = origin.getAttribute('rpy')
if (xyz) jointInfo.origin = xyz.split(' ').map(Number)
if (rpy) jointInfo.orientation = rpy.split(' ').map(Number)
}
joints.push(jointInfo)
}
}
// 按关节名称排序
joints.sort((a, b) => a.name.localeCompare(b.name))
console.log('从URDF提取的关节信息:', joints)
return joints
} catch (error) {
console.error('解析URDF失败:', error)
return []
}
}
/**
* 初始化Three.js场景
*/
const initScene = () => {
const container = viewerContainer.value
scene = new THREE.Scene()
scene.background = new THREE.Color(0xf0f0f0)
camera = new THREE.PerspectiveCamera(
75,
container.clientWidth / container.clientHeight,
0.01,
1000
)
camera.position.set(2, 2, 3)
renderer = new THREE.WebGLRenderer({ antialias: true })
renderer.setSize(container.clientWidth, container.clientHeight)
container.appendChild(renderer.domElement)
// 光源
const ambientLight = new THREE.AmbientLight(0xffffff, 0.6)
scene.add(ambientLight)
const directionalLight = new THREE.DirectionalLight(0xffffff, 0.8)
directionalLight.position.set(10, 20, 10)
scene.add(directionalLight)
controls = new OrbitControls(camera, renderer.domElement)
controls.enableDamping = true
}
/**
* 加载URDF机器人模型
*/
const loadRobot = async () => {
isLoading.value = true
try {
// 清除现有模型
if (robot) {
scene.remove(robot)
jointControls.length = 0
availableJoints.value = {}
}
// 1. 加载URDF文件内容
const urdfUrl = `${props.basePath}${props.urdfPath}`
const response = await fetch(urdfUrl)
const urdfXml = await response.text()
// 2. 解析URDF提取关节信息（同步调用）
const extractedJoints = extractJointInfoFromURDF(urdfXml)
// 3. 使用URDFLoader加载模型
const manager = new THREE.LoadingManager()
const loader = new URDFLoader(manager)
loader.packages = { '': props.basePath }
robot = await new Promise((resolve, reject) => {
loader.load(urdfUrl, resolve, undefined, reject)
})
// 4. 坐标轴修正
robot.rotation.x = -Math.PI / 2
robot.rotation.z = -Math.PI / 2
robot.updateMatrixWorld(true)
// 应用颜色
robot.traverse((child) => {
if (child.isMesh && child.material) {
child.material.color.set(props.modelColor)
}
})
scene.add(robot)
// 5. 初始化关节控制系统
availableJoints.value = robot.joints
// 将提取的关节信息与加载的关节匹配
extractedJoints.forEach(jointInfo => {
if (availableJoints.value[jointInfo.name]) {
// 获取当前关节值
const currentValue = availableJoints.value[jointInfo.name].jointValue || 0
// 确保初始值在限制范围内
let initialValue = currentValue
if (props.showJointLimits) {
initialValue = Math.max(jointInfo.min, Math.min(jointInfo.max, currentValue))
}
// 添加到控制列表
jointControls.push({
...jointInfo,
value: initialValue
})
// 设置初始关节位置
availableJoints.value[jointInfo.name].setJointValue(initialValue)
} else {
console.warn(`关节 ${jointInfo.name} 在URDF模型中不存在或不可控`)
}
})
fitCameraToObject(robot)
} catch (error) {
console.error('加载URDF模型失败:', error)
} finally {
isLoading.value = false
}
}
/**
* 更新关节角度
*/
const updateJointAngle = (jointName, angle) => {
if (availableJoints.value[jointName]) {
try {
// 应用限制（如果启用）
let clampedAngle = angle
if (props.showJointLimits) {
const jointInfo = jointControls.find(j => j.name === jointName)
if (jointInfo) {
clampedAngle = Math.max(jointInfo.min, Math.min(jointInfo.max, angle))
}
}
// 应用关节角度
availableJoints.value[jointName].setJointValue(clampedAngle)
// 更新UI中的值
const jointControl = jointControls.find(j => j.name === jointName)
if (jointControl) {
jointControl.value = clampedAngle
}
} catch (error) {
console.error(`设置关节 ${jointName} 角度失败:`, error)
}
}
}
/**
* 调整相机视角
*/
const fitCameraToObject = (object) => {
const boundingBox = new THREE.Box3().setFromObject(object)
const center = boundingBox.getCenter(new THREE.Vector3())
const size = boundingBox.getSize(new THREE.Vector3())
const maxSize = Math.max(size.x, size.y, size.z)
const fitHeightDistance = maxSize / (2 * Math.atan((Math.PI * camera.fov) / 360))
const fitWidthDistance = fitHeightDistance / camera.aspect
const distance = 1.5 * Math.max(fitHeightDistance, fitWidthDistance)
const direction = new THREE.Vector3(0, 1, 1).normalize()
controls.target.copy(center)
camera.position.copy(center).add(direction.multiplyScalar(distance))
controls.update()
}
/**
* 动画循环
*/
const animate = () => {
requestAnimationFrame(animate)
controls.update()
renderer.render(scene, camera)
}
/**
* 窗口大小变化处理
*/
const onWindowResize = () => {
const container = viewerContainer.value
camera.aspect = container.clientWidth / container.clientHeight
camera.updateProjectionMatrix()
renderer.setSize(container.clientWidth, container.clientHeight)
}
/**
* 清理资源
*/
const dispose = () => {
window.removeEventListener('resize', onWindowResize)
controls?.dispose()
renderer?.dispose()
}
// 监听属性变化
watch(
() => [props.basePath, props.urdfPath],
() => {
loadRobot()
}
)
watch(jointControls, (newVal) => {
emits('computedChange', newVal)
})
// 生命周期
onMounted(() => {
initScene()
loadRobot()
window.addEventListener('resize', onWindowResize)
animate()
})
onBeforeUnmount(() => {
dispose()
})
defineExpose({
updateJointAngle
})
</script>
<style scoped>
/* 样式部分保持不变 */
.urdf-viewer-container {
height: 100%;
width: 100%;
.urdf-viewer {
width: 100%;
height: 100%;
overflow: hidden;
}
}
.loading-overlay p {
font-size: 16px;
color: #ecf0f1;
}
</style>

565
src/views/device/register/components/MechanicalArm/index copy.vue
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@ -1,565 +0,0 @@
<script setup>
import {useRoute} from "vue-router"
import dayjs from "dayjs";
import {deviceTeach, deviceUpdateProfile} from "@/api/device/register.js";
import {formatNumber} from "@/views/device/register/components/index.js";
import {convertNumbersToStringAndRemoveNulls} from "@/utils/fn.js";
const data = reactive({
form: {
workModule: 1,//工作模式
posStep: 1,//位置步进
postureStep: 1,//姿态步进
jointStep: 1,//关节步进
joint1: 0.000012,//关节1
joint2: 0.000012,//
joint3: 0.000012,//
joint4: 0.000012,//
joint5: 0.000012,//
joint6: 0.000012,//关节6
x: 11,//
y: 11,//
z: 11,//
rx: 11,//
ry: 11,//
rz: 11,//
arm: 1,//目标
coordinate: 1,//坐标系
},
speed: 20,//速度
zeroPos: {//零位姿态
x: 0,
y: 0,
z: 0,
rx: 0,
ry: 0,
rz: 0,
},
initPos: {
x: 1,
y: 1,
z: 1,
rx: 1,
ry: 1,
rz: 1,
},//初始姿态
armList: [
{
label: '机械臂1',
value: 1
},
{
label: '机械臂2',
value: 2
}
],
coordinateList: [
{
label: 'x轴',
value: 1
},
{
label: 'y轴',
value: 2
},
{
label: 'z轴',
value: 3
}
],
time: dayjs().format("YYYY-MM-DD HH:mm:ss"),
})
const {
form, time,
zeroPos,
initPos,
armList,
coordinateList
} = toRefs(data)
const route = useRoute()
let timer = null
onUnmounted(() => {
clearInterval(timer)
})
//获取机械臂参数
const getDeviceInfo = () => {
deviceTeach(devId.value).then((res) => {
let data = formatNumber(res.data)//字符类型转数字类型
Object.assign(form.value, data)
//设置初始位置
initPos.value.x = data.x
initPos.value.y = data.y
initPos.value.z = data.z
initPos.value.rx = data.rx
initPos.value.ry = data.ry
initPos.value.rz = data.rz
})
}
onMounted(() => {
getDeviceInfo()
const posControls = document.querySelectorAll(".btn")
//监听按钮点击事件
posControls.forEach((item) => {
item.addEventListener('click', (e) => {
const target = e.currentTarget.classList[1]
const vals = target.split("_")//x_0 rx_0
const pos = vals[0]
const calc = !!Number(vals[1])
if (calc) {
form.value[pos] += 0.01 * data.speed
} else {
form.value[pos] -= 0.01 * data.speed
}
})
})
//监听失焦事件
// const warp = document.querySelector(".mechanical-arm")
// warp.addEventListener('focusout', handleFocus, false)
timer = setInterval(() => {
time.value = dayjs().format("YYYY-MM-DD HH:mm:ss")
getDeviceInfo()
}, 1000)
})
watch(() => JSON.parse(JSON.stringify(form.value)), (newData, oldData) => {
// const change = findDifferences(oldData, newData)
const data = convertNumbersToStringAndRemoveNulls(newData)
deviceUpdateProfile({idDeDeviceRegistration: devId.value, ...data}).then((res)=>{
console.log(res)
})
})
const handleFocus = (e) => {
const type = e.target.type
if (type === "number") {
// console.log("数字框失焦")
}
}
const devId = computed(() => {
return route.path.split("/")[2]
})
const deviceModel = computed(() => {
return route.path.split("/")[1]
})
const handleResets = (type) => {
if (type === "zero") {
Object.assign(form.value, zeroPos.value)
return
}
if (type === "init") {
Object.assign(form.value, initPos.value)
}
}
</script>
<template>
<div class="mechanical-arm">
<div class="top flex between">
<div class="left " style="width: 38%">
<div class="card" style="height: 100%">
<div class="title">机械臂</div>
<div class="body">机械臂图片</div>
</div>
</div>
<div class="center" style="width: 22%">
<div class="card">
<div class="title">工作模式</div>
<div class="body">
<el-radio-group v-model="form.workModule">
<el-radio :value="1">真实机械臂</el-radio>
<el-radio :value="2">仿真机械臂</el-radio>
</el-radio-group>
</div>
</div>
<div class="card" style="margin-top: 10px">
<div class="title">步进模式</div>
<div class="mb10">
<div class="mb5 action-label">位置步进( mm )</div>
<el-input-number style="width: 100%;" v-model="form.posStep" :step="2"/>
</div>
<div class="mb10">
<div class="mb5 action-label">姿态步进( deg )</div>
<el-input-number style="width: 100%;" v-model="form.postureStep" :step="2"/>
</div>
<div>
<div class="mb5 action-label">关节步进( deg )</div>
<el-input-number style="width: 100%;" v-model="form.jointStep" :step="2"/>
</div>
</div>
</div>
<div class="right " style="width: 38%">
<div class="card" style="height: 100%">
<div class="title">位置控制</div>
<div class="body">
<div class="btn-wrap pos-control" style="transform: rotateX(40deg);height: calc(100% - 70px)">
<div class="btn z_0">
<span>Z-</span>
<svg t="1747126605366" class="turn-bottom" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn x_0">
<span> X-</span>
<svg t="1747126605366" class="turn-up" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn z_1">
<span>Z+</span>
<svg t="1747126605366" class="turn-up" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn y_0">
<span>Y-</span>
<svg t="1747126605366" class="turn-left" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn"></div>
<div class="btn y_1">
<span>Y+</span>
<svg t="1747126605366" class="turn-right" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn"></div>
<div class="btn x_1">
<span>X+</span>
<svg t="1747126605366" class="turn-bottom" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn"></div>
</div>
<div>
<div class="mb10 action-label">参考坐标系</div>
<el-select
v-model="form.coordinate"
>
<el-option
v-for="item in coordinateList"
:key="item.value"
:label="item.label"
:value="item.value"
/>
</el-select>
</div>
</div>
</div>
</div>
</div>
<div class="bottom flex between">
<div class="left " style="width: 30%">
<div class="card" style="height: 100%">
<div class="title">机械臂位置姿态</div>
<div class="body">
<div class="flex mb10">
<div class="left flex1">
<div class="pos-title mb10">位置 ( m )</div>
<div class="mb10"> X: {{ form.x.toFixed(6) }}</div>
<div class="mb10"> Y: {{ form.y.toFixed(6) }}</div>
<div class="mb10"> Z: {{ form.z.toFixed(6) }}</div>
</div>
<div class="right flex1">
<div class="pos-title mb10">姿态 ( deg )</div>
<div class="mb10"> RX: {{ form.rx.toFixed(6) }}</div>
<div class="mb10"> RY: {{ form.ry.toFixed(6) }}</div>
<div class="mb10"> RZ: {{ form.rz.toFixed(6) }}</div>
</div>
</div>
<div>
<div class="mb10 action-label">目标</div>
<el-select
v-model="form.arm"
>
<el-option
v-for="item in armList"
:key="item.value"
:label="item.label"
:value="item.value"
/>
</el-select>
</div>
</div>
</div>
</div>
<div class="center " style="width: 30%">
<div class="card" style="height: 100%">
<div class="title">关节控制单位( deg )</div>
<div class="body">
<div class="mb10 action-label-pos">
<div class="action-label">关节1</div>
<el-input-number v-model="form.joint1" :step="0.000001" :precision="6"/>
</div>
<div class="mb10 action-label-pos">
<div class="action-label">关节2</div>
<el-input-number v-model="form.joint2" :step="0.000001" :precision="6"/>
</div>
<div class="mb10 action-label-pos">
<div class="action-label">关节3</div>
<el-input-number v-model="form.joint3" :step="0.000001" :precision="6"/>
</div>
<div class="mb10 action-label-pos">
<div class="action-label">关节4</div>
<el-input-number v-model="form.joint4" :step="0.000001" :precision="6"/>
</div>
<div class="mb10 action-label-pos">
<div class="action-label">关节5</div>
<el-input-number v-model="form.joint5" :step="0.000001" :precision="6"/>
</div>
<div class="mb10 action-label-pos">
<div class="action-label">关节6</div>
<el-input-number v-model="form.joint6" :step="0.000001" :precision="6"/>
</div>
</div>
</div>
</div>
<div class="right " style="width: 38%">
<div class="card" style="height: 100%">
<div class="title">姿态控制</div>
<div class="body">
<div class="btn-wrap">
<div class="btn rz_0 c">
<span>Z-</span>
<svg t="1747126605366" class="turn-lb" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn rx_0 c">
<span>X-</span>
<svg t="1747126605366" class="turn-up" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn rz_1 c">
<span>Z+</span>
<svg t="1747126605366" class="turn-rb" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn ry_0 c">
<span> Y-</span>
<svg t="1747126605366" class="turn-left" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn"></div>
<div class="btn ry_1 c">
<span>Y+</span>
<svg t="1747126605366" class="turn-right" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn"></div>
<div class="btn rx_1 c">
<span> X+</span>
<svg t="1747126605366" class="turn-bottom" viewBox="0 0 1024 1024" version="1.1"
xmlns="http://www.w3.org/2000/svg" p-id="1461" width="32" height="32">
<path
d="M311.432533 448.170667H163.84L510.293333 3.413333 856.746667 448.170667h-147.592534L760.832 1006.933333H259.754667z"
fill="#4076ff" p-id="1462"></path>
</svg>
</div>
<div class="btn"></div>
</div>
</div>
</div>
</div>
</div>
<div class="actions flex align-center between">
<div class="left">
<el-button @click="handleResets('zero')">零位姿态</el-button>
<el-button @click="handleResets('init')">初始位姿</el-button>
</div>
<div class="center">
{{ time }}
</div>
<div class="right flex align-center">
<div style="width: 100px;user-select: none">速度</div>
<el-slider size="small" :show-tooltip="false" v-model="data.speed"/>
<div style="margin-left: 20px"> {{ data.speed }}%</div>
</div>
</div>
</div>
</template>
<style scoped lang="scss">
.mechanical-arm {
width: 100vw;
height: 100vh;
overflow: hidden;
display: flex;
flex-direction: column;
justify-content: space-between;
.top {
padding: 10px 10px 0;
height: 48%;
.center {
display: flex;
flex-direction: column;
.card:last-child {
flex: 1;
}
}
}
.bottom {
padding: 0 10px;
height: 44%;
}
.actions {
height: 6%;
box-shadow: 0 0 8px rgba(0, 0, 0, 0.2);
padding: 0 10px;
.right {
width: 300px;
}
.center {
user-select: none;
}
}
.action-label {
color: #606266;
font-size: 14px;
user-select: none;
}
.action-label-pos {
display: flex;
align-items: center;
justify-content: space-between;
.el-input-number {
width: calc(100% - 50px);
}
}
.card {
border-radius: 8px;
border: 1px solid #e4e7ed;
padding: 10px;
.title {
color: #333;
font-size: 14px;
margin-bottom: 10px;
font-weight: 900;
user-select: none;
}
.body {
height: calc(100% - 29px);
overflow-y: auto;
.pos-title {
user-select: none;
}
.btn-wrap {
height: 100%;
display: grid;
grid-template-columns: repeat(3, 1fr);
grid-template-rows: repeat(3, 1fr);
justify-items: center;
align-items: center;
.btn {
cursor: pointer;
span {
user-select: none;
}
svg {
width: 60px;
height: 60px;
transform-origin: center center;
}
}
.turn-lb {
transform: rotate(-135deg);
}
.turn-rb {
transform: rotate(135deg);
}
.turn-left {
transform: rotate(-90deg);
}
.turn-right {
transform: rotate(90deg);
}
.turn-bottom {
transform: rotate(-180deg);
}
}
}
}
}
</style>

543
src/views/device/register/components/MechanicalArm/index.vue
View File

@ -1,28 +1,10 @@
<script setup>
import { reactive, toRefs, onMounted, onUnmounted, watch, computed, ref } from "vue";
import { useRoute } from "vue-router";
import dayjs from "dayjs";
import { deviceTeach } from "@/api/device/register.js";
import { formatNumber } from "@/views/device/register/components/index.js";
import { convertNumbersToStringAndRemoveNulls } from "@/utils/fn.js";
import {
moveJ,
status
} from '@/api/device/arm';
import { reactive, toRefs, onUnmounted, ref, onMounted } from "vue";
import UrdfViewer from "./components/UrdfViewer.vue";
import JointControl from "./components/JointControl.vue";
const data = reactive({
form: {
workModule: 1,
posStep: 1,
postureStep: 1,
jointStep: 1,
joint1: 0.000012,
joint2: 0.000012,
joint3: 0.000012,
joint4: 0.000012,
joint5: 0.000012,
joint6: 0.000012,
joint7: 0.000012,
x: 11,
y: 11,
z: 11,
@ -30,207 +12,153 @@ const data = reactive({
ry: 11,
rz: 11,
arm: 1,
coordinate: 1,
},
speed: 20,
zeroPos: {
x: 0,
y: 0,
z: 0,
rx: 0,
ry: 0,
rz: 0,
},
initPos: {
x: 1,
y: 1,
z: 1,
rx: 1,
ry: 1,
rz: 1,
},
armList: [
{ label: '目标1', value: 1 },
{ label: '目标2', value: 2 },
{ label: '目标3', value: 3 },
{ label: "目标1", value: 1 },
{ label: "目标2", value: 2 },
{ label: "目标3", value: 3 },
],
time: dayjs().format("YYYY-MM-DD HH:mm:ss"),
});
const terminalId = ref('25449ff3fcc7b27da5f69462c5efcec2');
const deviceId = ref('spk1');
const { form, time, zeroPos, initPos, armList } = toRefs(data);
const route = useRoute();
const { form, armList } = toRefs(data);
const leftJointList = ref(null);
const rightJointList = ref(null);
const computedChange = (val) => {
leftJointList.value = val.filter((item) => {
return item.name[0] === "L";
});
rightJointList.value = val.filter((item) => {
return item.name[0] === "R";
});
};
const urdfViewerRef = ref(null);
const updateJointAngle = ({ name, value }) => {
if (urdfViewerRef.value) {
urdfViewerRef.value.updateJointAngle(name, value);
}
};
const coordinateSystem = ref(null); // 用于获取容器元素
const buttonPositions = ref([]); // 存储按钮的动态位置
// 调整后的原始坐标（基于默认图片尺寸 1025x817px）
const initialPositions = [
{ target: "z_plus", x: 500, y: 80, label: "Z+" },
{ target: "rz_plus", x: 675, y: 124, label: "RZ+" },
{ target: "x_plus", x: 796, y: 245, label: "X+" },
{ target: "ry_plus", x: 840, y: 410, label: "RY+" },
{ target: "y_minus", x: 796, y: 570, label: "Y-" },
{ target: "ry_minus", x: 675, y: 696, label: "RY-" },
{ target: "z_minus", x: 500, y: 745, label: "Z-" },
{ target: "rx_minus", x: 345, y: 696, label: "RX-" },
{ target: "x_minus", x: 206, y: 570, label: "X-" },
{ target: "rx_plus", x: 180, y: 410, label: "RX+" },
{ target: "y_plus", x: 204, y: 245, label: "Y+" },
{ target: "rz_minus", x: 345, y: 124, label: "RZ-" },
const buttonDirections = [
{ target: "z_plus", direction: "top", label: "Z+" }, // left
{ target: "rz_plus", direction: "top-right", label: "RZ+" },
{ target: "x_plus", direction: "right", label: "X+" }, // bottom
{ target: "ry_plus", direction: "bottom-right", label: "RY+" },
{ target: "y_minus", direction: "bottom", label: "Y-" },
{ target: "ry_minus", direction: "bottom-left", label: "RY-" },
{ target: "z_minus", direction: "bottom", label: "Z-" },
{ target: "rx_minus", direction: "bottom-left", label: "RX-" },
{ target: "x_minus", direction: "left", label: "X-" },
{ target: "rx_plus", direction: "top-left", label: "RX+" },
{ target: "y_plus", direction: "left", label: "Y+" }, // right
{ target: "rz_minus", direction: "top-left", label: "RZ-" },
];
// 默认图片尺寸
const ORIGINAL_IMAGE_WIDTH = 1025;
const ORIGINAL_IMAGE_HEIGHT = 817;
let timer = null;
onUnmounted(() => {
clearInterval(timer);
});
const getDeviceInfo = () => {
deviceTeach(devId.value).then((res) => {
let dataRes = formatNumber(res.data);
Object.assign(form.value, dataRes);
initPos.value.x = dataRes.x;
initPos.value.y = dataRes.y;
initPos.value.z = dataRes.z;
initPos.value.rx = dataRes.rx;
initPos.value.ry = dataRes.ry;
initPos.value.rz = dataRes.rz;
});
};
const updateButtonPositions = () => {
if (coordinateSystem.value) {
const { width, height } = coordinateSystem.value.getBoundingClientRect();
// 计算图片的实际显示尺寸（考虑 background-size: contain）
const imageAspectRatio = ORIGINAL_IMAGE_WIDTH / ORIGINAL_IMAGE_HEIGHT; // 1025 / 817 ≈ 1.255
const containerAspectRatio = width / height;
const containerRect = coordinateSystem.value.getBoundingClientRect();
const containerWidth = containerRect.width;
const containerHeight = containerRect.height;
let imageWidth, imageHeight, offsetX, offsetY;
// 计算图片的实际显示尺寸（考虑 background-size: contain）
const imageAspectRatio = ORIGINAL_IMAGE_WIDTH / ORIGINAL_IMAGE_HEIGHT;
const containerAspectRatio = containerWidth / containerHeight;
let imageWidth, imageHeight, imageLeft, imageTop;
if (containerAspectRatio > imageAspectRatio) {
// 容器较宽，高度限制图片大小，上下有留白
imageHeight = height;
imageWidth = height * imageAspectRatio;
offsetX = (width - imageWidth) / 2; // 水平居中
offsetY = 0; // 顶部对齐
imageHeight = containerHeight;
imageWidth = imageHeight * imageAspectRatio;
imageLeft = (containerWidth - imageWidth) / 2;
imageTop = 0;
} else {
// 容器较窄，宽度限制图片大小，左右有留白
imageWidth = width;
imageHeight = width / imageAspectRatio;
offsetX = 0; // 左对齐
offsetY = (height - imageHeight) / 2; // 垂直居中
imageWidth = containerWidth;
imageHeight = imageWidth / imageAspectRatio;
imageLeft = 0;
imageTop = (containerHeight - imageHeight) / 2;
}
// 计算缩放比例（基于图片实际显示尺寸）
const scaleX = imageWidth / ORIGINAL_IMAGE_WIDTH;
const scaleY = imageHeight / ORIGINAL_IMAGE_HEIGHT;
// 计算图片中心坐标
const centerX = imageLeft + imageWidth / 2;
const centerY = imageTop + imageHeight / 2;
// 计算圆的半径（根据图片尺寸的较小值比例确定，可调整比例系数）
const radiusScale = 0.85; // 半径系数，0-1之间，越大半径越大
const radius = Math.min(imageWidth, imageHeight) * radiusScale / 2;
// 定义方位对应的角度（弧度制），top为0度，顺时针增加
const directionAngles = {
"top": 0,
"top-right": Math.PI / 6, // 30度
"right": Math.PI / 3, // 60度
"bottom-right": Math.PI / 2, // 90度
"bottom": 2 * Math.PI / 3, // 120度
"bottom-left": 5 * Math.PI / 6, // 150度
"left": Math.PI, // 180度
"top-left": 7 * Math.PI / 6, // 210度
};
// 调整角度以均匀分布12个按钮（360/12=30度，即Math.PI/6弧度）
const totalButtons = buttonDirections.length;
const angleStep = 2 * Math.PI / totalButtons;
// 更新按钮位置
buttonPositions.value = initialPositions.map((pos) => ({
...pos,
left: pos.x * scaleX + offsetX, // 按比例缩放 x 坐标并加上水平偏移
top: pos.y * scaleY + offsetY, // 按比例缩放 y 坐标并加上垂直偏移
}));
buttonPositions.value = buttonDirections.map((btn, index) => {
// 计算每个按钮的角度（从top开始顺时针排列）
const angle = index * angleStep;
// 计算按钮的坐标
const x = centerX + radius * Math.sin(angle);
const y = centerY - radius * Math.cos(angle);
return {
...btn,
left: x,
top: y,
};
});
}
};
onMounted(() => {
getDeviceInfo();
// 初始计算按钮位置
updateButtonPositions();
// 添加按钮事件监听
const posControls = document.querySelectorAll(".pos-btn");
posControls.forEach((item) => {
item.addEventListener('click', (e) => {
const target = e.currentTarget.dataset.target;
const [pos, direction] = target.split("_");
const step = (pos === 'x' || pos === 'y' || pos === 'z') ? form.value.posStep : form.value.postureStep;
const delta = direction === 'plus' ? step : -step;
form.value[pos] += delta * (data.speed / 100);
});
});
// 监听窗口大小变化，更新按钮位置
window.addEventListener('resize', updateButtonPositions);
window.addEventListener("resize", updateButtonPositions);
});
onUnmounted(() => {
window.removeEventListener('resize', updateButtonPositions);
window.removeEventListener("resize", updateButtonPositions);
});
watch(() => JSON.parse(JSON.stringify(form.value)), (newData) => {
const dataToSend = convertNumbersToStringAndRemoveNulls(newData);
moveJ({
"deviceId": deviceId.value,
"terminalId": terminalId.value,
"acc": 0.8,
"vel": 0.8,
"cmds": [
{
"jointName": "R_SHOULDER_P",
"rad": dataToSend.joint1,
"vel": 1.0
},
{
"jointName": "R_SHOULDER_R",
"rad": dataToSend.joint2,
"vel": 1.0
},
{
"jointName": "R_SHOULDER_Y",
"rad": dataToSend.joint3,
"vel": 1.0
},
{
"jointName": "R_ELBOW_R",
"rad": dataToSend.joint4,
"vel": 1.0
},
{
"jointName": "R_WRIST_P",
"rad": dataToSend.joint5,
"vel": 1.0
},
{
"jointName": "R_WRIST_Y",
"rad": dataToSend.joint6,
"vel": 1.0
},
{
"jointName": "R_WRIST_R",
"rad": dataToSend.joint7,
"vel": 1.0
}
]
})
});
const devId = computed(() => {
return route.path.split("/")[2];
});
const handleResets = (type) => {
if (type === "zero") {
Object.assign(form.value, zeroPos.value);
return;
}
if (type === "init") {
Object.assign(form.value, initPos.value);
}
};
</script>
<template>
<div class="mechanical-arm">
<div class="top card">
<div class="controls flex align-center" style="justify-content: flex-start;">
<div class="controls flex align-center" style="justify-content: flex-start">
<div class="control-label">目标</div>
<el-select v-model="form.arm" placeholder="选择目标" style="width: 100px; margin-right: 20px;">
<el-option v-for="item in armList" :key="item.value" :label="item.label" :value="item.value" />
<el-select
v-model="form.arm"
placeholder="选择目标"
style="width: 100px; margin-right: 20px"
>
<el-option
v-for="item in armList"
:key="item.value"
:label="item.label"
:value="item.value"
/>
</el-select>
<el-button @click="handleResets('zero')" style="margin-right: 10px;">零位姿态</el-button>
<el-button @click="handleResets('zero')" style="margin-right: 10px"
>零位姿态</el-button
>
<el-button @click="handleResets('init')">初始位置</el-button>
</div>
<div class="pose-info flex align-center">
@ -242,69 +170,52 @@ const handleResets = (type) => {
<div class="pose-item">RZ: {{ form.rz.toFixed(6) }} deg</div>
</div>
</div>
<div class="bottom flex">
<div class="left card" style="flex: 1; position: relative;">
<div class="title">姿态与位置控制</div>
<div class="coordinate-system" ref="coordinateSystem">
<div class="control-buttons">
<button
v-for="(pos, index) in buttonPositions"
:key="index"
class="pos-btn"
:data-target="pos.target"
:style="{ left: `${pos.left}px`, top: `${pos.top}px` }"
>
{{ pos.label }}
</button>
<div class="bottom">
<div class="left">
<UrdfViewer
ref="urdfViewerRef"
:base-path="'/public/models/'"
:urdf-path="'dual_arm.urdf'"
:model-color="'#8a8ae9'"
@computedChange="computedChange"
/>
</div>
<div class="right">
<div class="top">
<div class="secondary-title">
<div class="label">左手</div>
<div class="label">右手</div>
</div>
<div class="jointControl-container">
<JointControl
:jointList="leftJointList"
@updateJointAngle="updateJointAngle"
/>
<JointControl
:jointList="rightJointList"
@updateJointAngle="updateJointAngle"
/>
</div>
</div>
</div>
<div class="right card" style="flex: 1;">
<div class="title">关节控制 (deg)</div>
<div class="input-list">
<div class="input-item">
<span>关节1</span>
<el-input-number v-model="form.joint1" :step="form.jointStep" :precision="6" />
</div>
<div class="input-item">
<span>关节2</span>
<el-input-number v-model="form.joint2" :step="form.jointStep" :precision="6" />
</div>
<div class="input-item">
<span>关节3</span>
<el-input-number v-model="form.joint3" :step="form.jointStep" :precision="6" />
</div>
<div class="input-item">
<span>关节4</span>
<el-input-number v-model="form.joint4" :step="form.jointStep" :precision="6" />
</div>
<div class="input-item">
<span>关节5</span>
<el-input-number v-model="form.joint5" :step="form.jointStep" :precision="6" />
</div>
<div class="input-item">
<span>关节6</span>
<el-input-number v-model="form.joint6" :step="form.jointStep" :precision="6" />
</div>
<div class="input-item">
<span>关节7</span>
<el-input-number v-model="form.joint7" :step="form.jointStep" :precision="6" />
</div>
<div class="input-item">
<span>关节步进</span>
<el-input-number v-model="form.jointStep" :step="0.1" :precision="1" />
<div class="bottom">
<div class="left card" style="position: relative">
<div class="coordinate-system" ref="coordinateSystem">
<div class="control-buttons">
<button
v-for="(pos, index) in buttonPositions"
:key="index"
class="pos-btn"
:data-target="pos.target"
:style="{ left: `${pos.left}px`, top: `${pos.top}px` }"
>
{{ pos.label }}
</button>
</div>
</div>
</div>
</div>
</div>
</div>
<div class="footer card flex align-center between">
<div class="time">{{ time }}</div>
<div class="speed flex align-center">
<span>速度</span>
<el-slider v-model="data.speed" :min="0" :max="100" style="width: 200px; margin: 0 10px;" />
<span>{{ data.speed }}%</span>
</div>
</div>
</div>
</template>
@ -341,95 +252,97 @@ const handleResets = (type) => {
}
.bottom {
flex: 1;
gap: 20px;
.title {
font-size: 16px;
font-weight: bold;
margin-bottom: 10px;
user-select: none;
}
height: calc(100% - 120px);
display: flex;
gap: 12px;
.left {
display: flex;
flex-direction: column;
position: relative;
.coordinate-system {
flex: 1;
display: flex;
justify-content: center;
align-items: center;
position: relative;
background-color: #FFF;
background-image: url('@/assets/images/arm.png');
background-size: contain;
background-position: center;
background-repeat: no-repeat;
.control-buttons {
position: absolute;
width: 100%;
height: 100%;
top: 0;
left: 0;
.pos-btn {
position: absolute;
width: 40px;
height: 40px;
background: #4076ff;
color: white;
border: none;
cursor: pointer;
font-size: 16px;
border-radius: 4px;
display: flex;
align-items: center;
justify-content: center;
transform: translate(-50%, -50%); /* 按钮中心对齐坐标 */
}
}
}
flex: 2;
height: 100%;
}
.right {
.input-list {
display: flex;
flex-direction: column;
gap: 10px;
flex: 1;
height: 100%;
display: flex;
flex-direction: column;
.input-item {
.top {
flex: 1;
border: 1px solid #e4e7ed;
padding: 0 8px;
overflow: hidden;
.container-title {
font-size: 16px;
text-align: center;
}
.secondary-title {
display: flex;
align-items: center;
justify-content: space-between;
justify-content: space-around;
padding: 10px;
margin-bottom: 10px;
box-shadow: 0 2px 4px rgba(0, 0, 0, 0.1);
}
span {
width: 80px;
user-select: none;
}
.el-input-number {
width: calc(100% - 90px);
}
.jointControl-container {
display: flex;
gap: 10px;
height: calc(100% - 75px);
overflow: auto;
}
}
}
}
.footer {
height: 50px;
.bottom {
flex: 1;
.time {
font-size: 14px;
}
.card {
border: 1px solid #e4e7ed;
border-radius: 8px;
padding: 10px;
margin-bottom: 10px;
height: 100%;
display: flex;
flex-direction: column;
.speed {
gap: 10px;
.coordinate-system {
flex: 1;
display: flex;
justify-content: center;
align-items: center;
position: relative;
background-color: #fff;
background-image: url("@/assets/images/arm.png");
background-size: contain;
background-position: center;
background-repeat: no-repeat;
span {
user-select: none;
.control-buttons {
position: absolute;
width: 100%;
height: 100%;
top: 0;
left: 0;
.pos-btn {
position: absolute;
width: 40px;
height: 40px;
background: #4076ff;
color: white;
border: none;
cursor: pointer;
font-size: 16px;
border-radius: 4px;
display: flex;
align-items: center;
justify-content: center;
transform: translate(-50%, -50%); /* 按钮中心对齐坐标 */
}
}
}
}
}
}
}