From c598886eea0daba1a13b26830fb20c023fe5e385 Mon Sep 17 00:00:00 2001
From: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Date: Wed, 13 Aug 2025 17:18:31 +0800
Subject: [PATCH] =?UTF-8?q?add=EF=BC=9Adummy2?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
test_dummy2_integration.py | 254 ++++++++++++++
.../config/default_kinematics.yaml | 25 ++
.../devices/dummy2_robot/config/dummy2.srdf | 45 +++
.../dummy2_robot/config/dummy2.urdf.xacro | 14 +
.../devices/dummy2_robot/config/dummy2.xacro | 237 +++++++++++++
.../config/dummy2_simulated_config.yaml | 73 ++++
.../config/initial_positions.yaml | 9 +
.../dummy2_robot/config/joint_limits.yaml | 40 +++
.../dummy2_robot/config/kinematics.yaml | 4 +
.../config/macro.ros2_control.xacro | 57 ++++
.../dummy2_robot/config/move_group.json | 14 +
.../devices/dummy2_robot/config/moveit.rviz | 51 +++
.../config/moveit_controllers.yaml | 21 ++
.../config/physical_parameters.yaml | 39 +++
.../config/pilz_cartesian_limits.yaml | 6 +
.../dummy2_robot/config/ros2_controllers.yaml | 26 ++
.../config/visual_parameters.yaml | 35 ++
.../devices/dummy2_robot/joint_limit.yaml | 37 ++
.../devices/dummy2_robot/macro_device.xacro | 314 +++++++++++++++++
.../devices/dummy2_robot/meshes/J1_1.stl | Bin 0 -> 311884 bytes
.../devices/dummy2_robot/meshes/J2_1.stl | Bin 0 -> 4619784 bytes
.../devices/dummy2_robot/meshes/J3_1.stl | Bin 0 -> 917684 bytes
.../devices/dummy2_robot/meshes/J4_1.stl | Bin 0 -> 2583084 bytes
.../devices/dummy2_robot/meshes/J5_1.stl | Bin 0 -> 3392184 bytes
.../devices/dummy2_robot/meshes/J6_1.stl | Bin 0 -> 86484 bytes
.../devices/dummy2_robot/meshes/base_link.stl | Bin 0 -> 539284 bytes
.../devices/dummy2_robot/meshes/camera_1.stl | Bin 0 -> 3119884 bytes
.../devices/dummy2_robot/meshes/dummy2.xacro | 237 +++++++++++++
unilabos/registry/devices/robot_arm.yaml | 315 ++++++++++++++++++
29 files changed, 1853 insertions(+)
create mode 100644 test_dummy2_integration.py
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/default_kinematics.yaml
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/dummy2.srdf
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/dummy2.urdf.xacro
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/dummy2.xacro
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/dummy2_simulated_config.yaml
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/initial_positions.yaml
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/joint_limits.yaml
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/kinematics.yaml
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/macro.ros2_control.xacro
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/move_group.json
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/moveit.rviz
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/moveit_controllers.yaml
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/physical_parameters.yaml
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/pilz_cartesian_limits.yaml
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/ros2_controllers.yaml
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/config/visual_parameters.yaml
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/joint_limit.yaml
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/macro_device.xacro
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/meshes/J1_1.stl
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/meshes/J2_1.stl
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/meshes/J3_1.stl
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/meshes/J4_1.stl
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/meshes/J5_1.stl
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/meshes/J6_1.stl
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/meshes/base_link.stl
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/meshes/camera_1.stl
create mode 100644 unilabos/device_mesh/devices/dummy2_robot/meshes/dummy2.xacro
diff --git a/test_dummy2_integration.py b/test_dummy2_integration.py
new file mode 100644
index 00000000..d2f63c31
--- /dev/null
+++ b/test_dummy2_integration.py
@@ -0,0 +1,254 @@
+#!/usr/bin/env python3
+"""
+Dummy2 机械臂接入 UniLab 系统测试脚本
+"""
+
+import os
+import sys
+import time
+import yaml
+import json
+
+def test_device_model_files():
+ """测试设备模型文件是否完整"""
+ print("=== 测试设备模型文件 ===")
+
+ device_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/device_mesh/devices/dummy2_robot"
+
+ required_files = [
+ "macro_device.xacro",
+ "dummy2_robot.json",
+ "config/joint_limits.yaml",
+ "config/default_kinematics.yaml",
+ "config/physical_parameters.yaml",
+ "config/visual_parameters.yaml"
+ ]
+
+ required_meshes = [
+ "meshes/base_link.stl",
+ "meshes/J1_1.stl",
+ "meshes/J2_1.stl",
+ "meshes/J3_1.stl",
+ "meshes/J4_1.stl",
+ "meshes/J5_1.stl",
+ "meshes/J6_1.stl",
+ "meshes/camera_1.stl"
+ ]
+
+ all_files = required_files + required_meshes
+ missing_files = []
+
+ for file_path in all_files:
+ full_path = os.path.join(device_path, file_path)
+ if not os.path.exists(full_path):
+ missing_files.append(file_path)
+ else:
+ print(f"✅ {file_path}")
+
+ if missing_files:
+ print(f"❌ 缺少文件: {missing_files}")
+ return False
+ else:
+ print("✅ 所有模型文件都存在")
+ return True
+
+def test_driver_file():
+ """测试驱动文件"""
+ print("\n=== 测试驱动文件 ===")
+
+ driver_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/devices/ros_dev/moveit_interface.py"
+
+ if not os.path.exists(driver_path):
+ print(f"❌ 驱动文件不存在: {driver_path}")
+ return False
+
+ try:
+ # 尝试导入驱动类
+ sys.path.insert(0, os.path.dirname(driver_path))
+ from unilabos.devices.ros_dev.moveit_interface import MoveitInterface
+ print("✅ 驱动文件存在且可导入")
+
+ # 检查必要的方法
+ required_methods = [
+ '__init__',
+ 'post_init',
+ 'check_tf_update_actions',
+ 'resource_manager',
+ 'wait_for_resource_action',
+ 'moveit_joint_task',
+ 'moveit_task'
+ ]
+
+ missing_methods = []
+ for method in required_methods:
+ if not hasattr(MoveitInterface, method):
+ missing_methods.append(method)
+
+ if missing_methods:
+ print(f"❌ 驱动类缺少方法: {missing_methods}")
+ return False
+ else:
+ print("✅ 驱动类包含所有必要方法")
+ return True
+
+ except ImportError as e:
+ print(f"❌ 驱动文件导入失败: {e}")
+ return False
+
+def test_registry_config():
+ """测试注册表配置"""
+ print("\n=== 测试注册表配置 ===")
+
+ registry_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/registry/devices/robot_arm.yaml"
+
+ if not os.path.exists(registry_path):
+ print(f"❌ 注册表文件不存在: {registry_path}")
+ return False
+
+ try:
+ with open(registry_path, 'r', encoding='utf-8') as f:
+ config = yaml.safe_load(f)
+
+ if 'robotic_arm.Dummy2' not in config:
+ print("❌ 注册表中没有找到 robotic_arm.Dummy2 配置")
+ return False
+
+ dummy2_config = config['robotic_arm.Dummy2']
+
+ # 检查必要的配置项
+ required_keys = [
+ 'category',
+ 'class',
+ 'description',
+ 'init_param_schema',
+ 'model',
+ 'version'
+ ]
+
+ missing_keys = []
+ for key in required_keys:
+ if key not in dummy2_config:
+ missing_keys.append(key)
+
+ if missing_keys:
+ print(f"❌ Dummy2配置缺少字段: {missing_keys}")
+ return False
+
+ # 检查模块路径
+ module_path = dummy2_config.get('class', {}).get('module')
+ if module_path != 'unilabos.devices.ros_dev.moveit_interface:MoveitInterface':
+ print(f"❌ 模块路径不正确: {module_path}")
+ return False
+
+ # 检查动作定义
+ actions = dummy2_config.get('class', {}).get('action_value_mappings', {})
+ required_actions = [
+ 'auto-check_tf_update_actions',
+ 'auto-post_init',
+ 'auto-resource_manager',
+ 'auto-wait_for_resource_action',
+ 'auto-moveit_joint_task',
+ 'auto-moveit_task',
+ 'pick_and_place'
+ ]
+
+ missing_actions = []
+ for action in required_actions:
+ if action not in actions:
+ missing_actions.append(action)
+
+ if missing_actions:
+ print(f"❌ 缺少动作定义: {missing_actions}")
+ return False
+
+ print("✅ 注册表配置完整且正确")
+ return True
+
+ except Exception as e:
+ print(f"❌ 注册表配置检查失败: {e}")
+ return False
+
+def test_can2eth_connectivity():
+ """测试CAN2ETH连接（可选）"""
+ print("\n=== 测试CAN2ETH连接 ===")
+
+ try:
+ import socket
+ import struct
+
+ # 尝试连接CAN2ETH网关
+ sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+ sock.settimeout(2.0)
+
+ can2eth_host = "192.168.8.88"
+ can2eth_port = 8080
+
+ # 发送ping命令
+ ping_cmd = struct.pack('>B', 0xFF)
+ sock.sendto(ping_cmd, (can2eth_host, can2eth_port))
+
+ try:
+ data, addr = sock.recvfrom(1024)
+ if len(data) > 0:
+ print(f"✅ CAN2ETH网关 {can2eth_host}:{can2eth_port} 连接成功")
+ return True
+ except socket.timeout:
+ print(f"⚠️ CAN2ETH网关 {can2eth_host}:{can2eth_port} 无响应（可能未启动）")
+ return False
+
+ except Exception as e:
+ print(f"⚠️ CAN2ETH连接测试失败: {e}")
+ return False
+ finally:
+ if 'sock' in locals():
+ sock.close()
+
+def main():
+ """主测试函数"""
+ print("🤖 Dummy2 机械臂接入 UniLab 系统测试")
+ print("=" * 50)
+
+ tests = [
+ ("设备模型文件", test_device_model_files),
+ ("驱动文件", test_driver_file),
+ ("注册表配置", test_registry_config),
+ ("CAN2ETH连接", test_can2eth_connectivity)
+ ]
+
+ results = []
+
+ for test_name, test_func in tests:
+ try:
+ result = test_func()
+ results.append((test_name, result))
+ except Exception as e:
+ print(f"❌ {test_name}测试异常: {e}")
+ results.append((test_name, False))
+
+ print("\n" + "=" * 50)
+ print("📊 测试结果汇总:")
+
+ passed = 0
+ total = len(results)
+
+ for test_name, result in results:
+ status = "✅ 通过" if result else "❌ 失败"
+ print(f" {test_name}: {status}")
+ if result:
+ passed += 1
+
+ print(f"\n总体结果: {passed}/{total} 项测试通过")
+
+ if passed == total:
+ print("🎉 Dummy2 机械臂已成功接入 UniLab 系统！")
+ print("\n📋 后续步骤:")
+ print("1. 启动 CAN2ETH 服务: ros2 launch dummy2_can2eth dummy2_can2eth_server.launch.py")
+ print("2. 在 UniLab 界面中添加 Dummy2 设备实例")
+ print("3. 测试设备初始化和基本功能")
+ else:
+ print("⚠️ 还有一些问题需要解决才能完全接入")
+
+ return passed == total
+
+if __name__ == "__main__":
+ main()
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/default_kinematics.yaml b/unilabos/device_mesh/devices/dummy2_robot/config/default_kinematics.yaml
new file mode 100644
index 00000000..a7c5ae6a
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/default_kinematics.yaml
@@ -0,0 +1,25 @@
+dummy2_robot:
+ kinematics:
+ # DH parameters for Dummy2 6-DOF robot arm
+ # [theta, d, a, alpha] for each joint
+ joint_1: [0.0, 0.1, 0.0, 1.5708] # Base rotation
+ joint_2: [0.0, 0.0, 0.2, 0.0] # Shoulder
+ joint_3: [0.0, 0.0, 0.15, 0.0] # Elbow
+ joint_4: [0.0, 0.1, 0.0, 1.5708] # Wrist roll
+ joint_5: [0.0, 0.0, 0.0, -1.5708] # Wrist pitch
+ joint_6: [0.0, 0.06, 0.0, 0.0] # Wrist yaw
+
+ # Tool center point offset from last joint
+ tcp_offset:
+ x: 0.0
+ y: 0.0
+ z: 0.04
+
+ # Workspace limits
+ workspace:
+ x_min: -0.5
+ x_max: 0.5
+ y_min: -0.5
+ y_max: 0.5
+ z_min: 0.0
+ z_max: 0.6
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/dummy2.srdf b/unilabos/device_mesh/devices/dummy2_robot/config/dummy2.srdf
new file mode 100644
index 00000000..5b53b86f
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/dummy2.srdf
@@ -0,0 +1,45 @@
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diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/dummy2.urdf.xacro b/unilabos/device_mesh/devices/dummy2_robot/config/dummy2.urdf.xacro
new file mode 100644
index 00000000..1fb0c97b
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/dummy2.urdf.xacro
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diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/dummy2.xacro b/unilabos/device_mesh/devices/dummy2_robot/config/dummy2.xacro
new file mode 100644
index 00000000..f7959cbf
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/dummy2.xacro
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diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/dummy2_simulated_config.yaml b/unilabos/device_mesh/devices/dummy2_robot/config/dummy2_simulated_config.yaml
new file mode 100644
index 00000000..4856bf1a
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/dummy2_simulated_config.yaml
@@ -0,0 +1,73 @@
+###############################################
+# Modify all parameters related to servoing here
+###############################################
+# adapt to dummy2 by Muzhxiaowen, check out the details on bilibili.com
+
+use_gazebo: false # Whether the robot is started in a Gazebo simulation environment
+
+## Properties of incoming commands
+command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
+scale:
+ # Scale parameters are only used if command_in_type=="unitless"
+ linear: 0.4 # Max linear velocity. Unit is [m/s]. Only used for Cartesian commands.
+ rotational: 0.8 # Max angular velocity. Unit is [rad/s]. Only used for Cartesian commands.
+ # Max joint angular/linear velocity. Only used for joint commands on joint_command_in_topic.
+ joint: 0.5
+
+# Optionally override Servo's internal velocity scaling when near singularity or collision (0.0 = use internal velocity scaling)
+# override_velocity_scaling_factor = 0.0 # valid range [0.0:1.0]
+
+## Properties of outgoing commands
+publish_period: 0.034 # 1/Nominal publish rate [seconds]
+low_latency_mode: false # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
+
+# What type of topic does your robot driver expect?
+# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
+command_out_type: trajectory_msgs/JointTrajectory
+
+# What to publish? Can save some bandwidth as most robots only require positions or velocities
+publish_joint_positions: true
+publish_joint_velocities: true
+publish_joint_accelerations: false
+
+## Plugins for smoothing outgoing commands
+smoothing_filter_plugin_name: "online_signal_smoothing::ButterworthFilterPlugin"
+
+# If is_primary_planning_scene_monitor is set to true, the Servo server's PlanningScene advertises the /get_planning_scene service,
+# which other nodes can use as a source for information about the planning environment.
+# NOTE: If a different node in your system is responsible for the "primary" planning scene instance (e.g. the MoveGroup node),
+# then is_primary_planning_scene_monitor needs to be set to false.
+is_primary_planning_scene_monitor: true
+
+## MoveIt properties
+move_group_name: dummy2_arm # Often 'manipulator' or 'arm'
+planning_frame: base_link # The MoveIt planning frame. Often 'base_link' or 'world'
+
+## Other frames
+ee_frame_name: J6_1 # The name of the end effector link, used to return the EE pose
+robot_link_command_frame: base_link # commands must be given in the frame of a robot link. Usually either the base or end effector
+
+## Stopping behaviour
+incoming_command_timeout: 0.1 # Stop servoing if X seconds elapse without a new command
+# If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
+# Important because ROS may drop some messages and we need the robot to halt reliably.
+num_outgoing_halt_msgs_to_publish: 4
+
+## Configure handling of singularities and joint limits
+lower_singularity_threshold: 170.0 # Start decelerating when the condition number hits this (close to singularity)
+hard_stop_singularity_threshold: 3000.0 # Stop when the condition number hits this
+joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
+leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/ros-planning/moveit2/pull/620)
+
+## Topic names
+cartesian_command_in_topic: ~/delta_twist_cmds # Topic for incoming Cartesian twist commands
+joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
+joint_topic: /joint_states
+status_topic: ~/status # Publish status to this topic
+command_out_topic: /dummy2_arm_controller/joint_trajectory # Publish outgoing commands here
+
+## Collision checking for the entire robot body
+check_collisions: true # Check collisions?
+collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
+self_collision_proximity_threshold: 0.001 # Start decelerating when a self-collision is this far [m]
+scene_collision_proximity_threshold: 0.002 # Start decelerating when a scene collision is this far [m]
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/initial_positions.yaml b/unilabos/device_mesh/devices/dummy2_robot/config/initial_positions.yaml
new file mode 100644
index 00000000..841bba05
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/initial_positions.yaml
@@ -0,0 +1,9 @@
+# Default initial positions for dummy2's ros2_control fake system
+
+initial_positions:
+ Joint1: 0
+ Joint2: 0
+ Joint3: 0
+ Joint4: 0
+ Joint5: 0
+ Joint6: 0
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/joint_limits.yaml b/unilabos/device_mesh/devices/dummy2_robot/config/joint_limits.yaml
new file mode 100644
index 00000000..151fb300
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/joint_limits.yaml
@@ -0,0 +1,40 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+ joint_1:
+ has_velocity_limits: true
+ max_velocity: 2.0
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint_2:
+ has_velocity_limits: true
+ max_velocity: 2.0
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint_3:
+ has_velocity_limits: true
+ max_velocity: 2.0
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint_4:
+ has_velocity_limits: true
+ max_velocity: 2.0
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint_5:
+ has_velocity_limits: true
+ max_velocity: 2.0
+ has_acceleration_limits: false
+ max_acceleration: 0
+ joint_6:
+ has_velocity_limits: true
+ max_velocity: 2.0
+ has_acceleration_limits: false
+ max_acceleration: 0
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/kinematics.yaml b/unilabos/device_mesh/devices/dummy2_robot/config/kinematics.yaml
new file mode 100644
index 00000000..55cefc6d
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/kinematics.yaml
@@ -0,0 +1,4 @@
+dummy2_arm:
+ kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+ kinematics_solver_search_resolution: 0.0050000000000000001
+ kinematics_solver_timeout: 0.5
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/macro.ros2_control.xacro b/unilabos/device_mesh/devices/dummy2_robot/config/macro.ros2_control.xacro
new file mode 100644
index 00000000..58b38a55
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/macro.ros2_control.xacro
@@ -0,0 +1,57 @@
+
+
+
+
+
+
+
+
+
+ dummy2_hardware/Dummy2Hardware
+
+
+
+
+ ${initial_positions['Joint1']}
+
+
+
+
+
+
+ ${initial_positions['Joint2']}
+
+
+
+
+
+
+ ${initial_positions['Joint3']}
+
+
+
+
+
+
+ ${initial_positions['Joint4']}
+
+
+
+
+
+
+ ${initial_positions['Joint5']}
+
+
+
+
+
+
+ ${initial_positions['Joint6']}
+
+
+
+
+
+
+
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/move_group.json b/unilabos/device_mesh/devices/dummy2_robot/config/move_group.json
new file mode 100644
index 00000000..2ff1d670
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/move_group.json
@@ -0,0 +1,14 @@
+{
+ "arm": {
+ "joint_names": [
+ "joint_1",
+ "joint_2",
+ "joint_3",
+ "joint_4",
+ "joint_5",
+ "joint_6"
+ ],
+ "base_link_name": "base_link",
+ "end_effector_name": "tool_link"
+ }
+}
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/moveit.rviz b/unilabos/device_mesh/devices/dummy2_robot/config/moveit.rviz
new file mode 100644
index 00000000..99bb740f
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/moveit.rviz
@@ -0,0 +1,51 @@
+Panels:
+ - Class: rviz_common/Displays
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /MotionPlanning1
+ - Class: rviz_common/Help
+ Name: Help
+ - Class: rviz_common/Views
+ Name: Views
+Visualization Manager:
+ Displays:
+ - Class: rviz_default_plugins/Grid
+ Name: Grid
+ Value: true
+ - Class: moveit_rviz_plugin/MotionPlanning
+ Name: MotionPlanning
+ Planned Path:
+ Loop Animation: true
+ State Display Time: 0.05 s
+ Trajectory Topic: display_planned_path
+ Planning Scene Topic: monitored_planning_scene
+ Robot Description: robot_description
+ Scene Geometry:
+ Scene Alpha: 1
+ Scene Robot:
+ Robot Alpha: 0.5
+ Value: true
+ Global Options:
+ Fixed Frame: base_link
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 2.0
+ Focal Point:
+ X: -0.1
+ Y: 0.25
+ Z: 0.30
+ Name: Current View
+ Pitch: 0.5
+ Target Frame: base_link
+ Yaw: -0.623
+Window Geometry:
+ Height: 975
+ QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Width: 1200
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/moveit_controllers.yaml b/unilabos/device_mesh/devices/dummy2_robot/config/moveit_controllers.yaml
new file mode 100644
index 00000000..153ff5e6
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/moveit_controllers.yaml
@@ -0,0 +1,21 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+ controller_names:
+ - dummy2_arm_controller
+
+ dummy2_arm_controller:
+ type: FollowJointTrajectory
+ action_ns: follow_joint_trajectory
+ default: true
+ joints:
+ - Joint1
+ - Joint2
+ - Joint3
+ - Joint4
+ - Joint5
+ - Joint6
+ action_ns: follow_joint_trajectory
+ default: true
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/physical_parameters.yaml b/unilabos/device_mesh/devices/dummy2_robot/config/physical_parameters.yaml
new file mode 100644
index 00000000..cd6f60c8
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/physical_parameters.yaml
@@ -0,0 +1,39 @@
+dummy2_robot:
+ # Physical properties for each link
+ link_masses:
+ base_link: 5.0
+ link_1: 3.0
+ link_2: 2.5
+ link_3: 2.0
+ link_4: 1.5
+ link_5: 1.0
+ link_6: 0.5
+
+ # Center of mass for each link (relative to joint frame)
+ link_com:
+ base_link: [0.0, 0.0, 0.05]
+ link_1: [0.0, 0.0, 0.05]
+ link_2: [0.1, 0.0, 0.0]
+ link_3: [0.08, 0.0, 0.0]
+ link_4: [0.0, 0.0, 0.05]
+ link_5: [0.0, 0.0, 0.03]
+ link_6: [0.0, 0.0, 0.02]
+
+ # Moment of inertia matrices
+ link_inertias:
+ base_link: [0.02, 0.0, 0.0, 0.02, 0.0, 0.02]
+ link_1: [0.01, 0.0, 0.0, 0.01, 0.0, 0.01]
+ link_2: [0.008, 0.0, 0.0, 0.008, 0.0, 0.008]
+ link_3: [0.006, 0.0, 0.0, 0.006, 0.0, 0.006]
+ link_4: [0.004, 0.0, 0.0, 0.004, 0.0, 0.004]
+ link_5: [0.002, 0.0, 0.0, 0.002, 0.0, 0.002]
+ link_6: [0.001, 0.0, 0.0, 0.001, 0.0, 0.001]
+
+ # Motor specifications
+ motor_specs:
+ joint_1: { max_torque: 150.0, max_speed: 2.0, gear_ratio: 100 }
+ joint_2: { max_torque: 150.0, max_speed: 2.0, gear_ratio: 100 }
+ joint_3: { max_torque: 150.0, max_speed: 2.0, gear_ratio: 100 }
+ joint_4: { max_torque: 50.0, max_speed: 2.0, gear_ratio: 50 }
+ joint_5: { max_torque: 50.0, max_speed: 2.0, gear_ratio: 50 }
+ joint_6: { max_torque: 25.0, max_speed: 2.0, gear_ratio: 25 }
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/pilz_cartesian_limits.yaml b/unilabos/device_mesh/devices/dummy2_robot/config/pilz_cartesian_limits.yaml
new file mode 100644
index 00000000..b2997caf
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+ max_trans_vel: 1.0
+ max_trans_acc: 2.25
+ max_trans_dec: -5.0
+ max_rot_vel: 1.57
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/ros2_controllers.yaml b/unilabos/device_mesh/devices/dummy2_robot/config/ros2_controllers.yaml
new file mode 100644
index 00000000..6265fa4f
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/ros2_controllers.yaml
@@ -0,0 +1,26 @@
+# This config file is used by ros2_control
+controller_manager:
+ ros__parameters:
+ update_rate: 100 # Hz
+
+ dummy2_arm_controller:
+ type: joint_trajectory_controller/JointTrajectoryController
+
+
+ joint_state_broadcaster:
+ type: joint_state_broadcaster/JointStateBroadcaster
+
+dummy2_arm_controller:
+ ros__parameters:
+ joints:
+ - Joint1
+ - Joint2
+ - Joint3
+ - Joint4
+ - Joint5
+ - Joint6
+ command_interfaces:
+ - position
+ state_interfaces:
+ - position
+ - velocity
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/dummy2_robot/config/visual_parameters.yaml b/unilabos/device_mesh/devices/dummy2_robot/config/visual_parameters.yaml
new file mode 100644
index 00000000..e9cc6615
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/config/visual_parameters.yaml
@@ -0,0 +1,35 @@
+dummy2_robot:
+ # Visual appearance settings
+ materials:
+ base_material:
+ color: [0.8, 0.8, 0.8, 1.0] # Light gray
+ metallic: 0.1
+ roughness: 0.3
+
+ link_material:
+ color: [0.2, 0.2, 0.8, 1.0] # Blue
+ metallic: 0.3
+ roughness: 0.2
+
+ joint_material:
+ color: [0.6, 0.6, 0.6, 1.0] # Dark gray
+ metallic: 0.5
+ roughness: 0.1
+
+ camera_material:
+ color: [0.1, 0.1, 0.1, 1.0] # Black
+ metallic: 0.0
+ roughness: 0.8
+
+ # Mesh scaling factors
+ mesh_scale: [0.001, 0.001, 0.001] # Convert mm to m
+
+ # Collision geometry simplification
+ collision_geometries:
+ base_link: "cylinder" # radius: 0.08, height: 0.1
+ link_1: "cylinder" # radius: 0.05, height: 0.15
+ link_2: "box" # size: [0.2, 0.08, 0.08]
+ link_3: "box" # size: [0.15, 0.06, 0.06]
+ link_4: "cylinder" # radius: 0.03, height: 0.1
+ link_5: "cylinder" # radius: 0.025, height: 0.06
+ link_6: "cylinder" # radius: 0.02, height: 0.04
diff --git a/unilabos/device_mesh/devices/dummy2_robot/joint_limit.yaml b/unilabos/device_mesh/devices/dummy2_robot/joint_limit.yaml
new file mode 100644
index 00000000..4bbb56c0
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/joint_limit.yaml
@@ -0,0 +1,37 @@
+joint_limits:
+
+ joint_1:
+ effort: 150
+ velocity: 2.0
+ lower: !degrees -180
+ upper: !degrees 180
+
+ joint_2:
+ effort: 150
+ velocity: 2.0
+ lower: !degrees -90
+ upper: !degrees 90
+
+ joint_3:
+ effort: 150
+ velocity: 2.0
+ lower: !degrees -90
+ upper: !degrees 90
+
+ joint_4:
+ effort: 50
+ velocity: 2.0
+ lower: !degrees -180
+ upper: !degrees 180
+
+ joint_5:
+ effort: 50
+ velocity: 2.0
+ lower: !degrees -90
+ upper: !degrees 90
+
+ joint_6:
+ effort: 25
+ velocity: 2.0
+ lower: !degrees -180
+ upper: !degrees 180
diff --git a/unilabos/device_mesh/devices/dummy2_robot/macro_device.xacro b/unilabos/device_mesh/devices/dummy2_robot/macro_device.xacro
new file mode 100644
index 00000000..d4ad1fdf
--- /dev/null
+++ b/unilabos/device_mesh/devices/dummy2_robot/macro_device.xacro
@@ -0,0 +1,314 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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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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+
+
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+
+
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+
+
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+
+
+
+
+
+
+
+
+
+
+
+ dummy2_hardware_interface/Dummy2HardwareInterface
+ $(arg can2eth_ip)
+ $(arg can2eth_port)
+
+
+
+
+ ${limit_joint_1['lower']}
+ ${limit_joint_1['upper']}
+
+
+
+
+
+
+
+ ${limit_joint_2['lower']}
+ ${limit_joint_2['upper']}
+
+
+
+
+
+
+
+ ${limit_joint_3['lower']}
+ ${limit_joint_3['upper']}
+
+
+
+
+
+
+
+ ${limit_joint_4['lower']}
+ ${limit_joint_4['upper']}
+
+
+
+
+
+
+
+ ${limit_joint_5['lower']}
+ ${limit_joint_5['upper']}
+
+
+
+
+
+
+
+ ${limit_joint_6['lower']}
+ ${limit_joint_6['upper']}
+
+
+
+
+
+
+
+
+
diff --git a/unilabos/device_mesh/devices/dummy2_robot/meshes/J1_1.stl b/unilabos/device_mesh/devices/dummy2_robot/meshes/J1_1.stl
new file mode 100644
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