diff --git a/README.md b/README.md index 15195a6..3cead48 100644 --- a/README.md +++ b/README.md @@ -183,9 +183,11 @@ These wrist camera mounts are shared by **B601-RS and B601-DM**. See the [comple | 32×32 UVC | Intel D435i | Intel D405 & Gemini 305 | Gemini 2 | | :--- | :--- | :--- | :--- | -| | | | | +| 32×32 UVC MuJoCo wrist camera assembly | RealSense D435i MuJoCo wrist camera assembly | RealSense D405 MuJoCo wrist camera assembly | Orbbec Gemini 2 MuJoCo wrist camera assembly | | [STEP](hardware/camera-mounts/b601-camera-mounts/UVC32_mount.step) | [STEP](hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step) | [STEP](hardware/camera-mounts/b601-camera-mounts/D405_305_Mount.step) · [design notes](https://github.com/bowenszhu/rebot-b601-rs-d405-wrist-mount/tree/v1.0.0) | [STEP](hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step) | +The previews show UVC32, D435i, D405 and Gemini 2 assemblies on B601-RS; the mounts are shared with B601-DM. [URDFs and assembly instructions](Rebot_Arm_description/Camera/README.md). UVC32 uses the official bracket CAD with a schematic camera board. + ### Leader Arm Compatibility | Star Arm 102-LD | Open to compatibility integration | diff --git a/README_Fr.md b/README_Fr.md index 3a319bf..4d985ef 100644 --- a/README_Fr.md +++ b/README_Fr.md @@ -183,9 +183,11 @@ Ces supports de caméra au poignet sont communs aux **B601-RS et B601-DM**. Cons | UVC 32×32 | Intel D435i | Intel D405 & Gemini 305 | Gemini 2 | | :--- | :--- | :--- | :--- | -| | | | | +| 32×32 UVC MuJoCo wrist camera assembly | RealSense D435i MuJoCo wrist camera assembly | RealSense D405 MuJoCo wrist camera assembly | Orbbec Gemini 2 MuJoCo wrist camera assembly | | [STEP](hardware/camera-mounts/b601-camera-mounts/UVC32_mount.step) | [STEP](hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step) | [STEP](hardware/camera-mounts/b601-camera-mounts/D405_305_Mount.step) · [notes de conception](https://github.com/bowenszhu/rebot-b601-rs-d405-wrist-mount/tree/v1.0.0) | [STEP](hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step) | +Les aperçus montrent les assemblages UVC32, D435i, D405 et Gemini 2 sur le B601-RS ; les supports sont communs au B601-DM. [URDF et instructions de montage](Rebot_Arm_description/Camera/README.md). UVC32 utilise le CAD officiel du support avec une carte caméra schématique. + ### Compatible avec le bras leader | Star Arm 102-LD | Ouvert à l'intégration et la compatibilité | diff --git a/README_JP.md b/README_JP.md index 4521418..36312ad 100644 --- a/README_JP.md +++ b/README_JP.md @@ -183,9 +183,11 @@ | 32×32 UVC カメラ | Intel D435i | Intel D405 & Gemini 305 | Gemini 2 | | :--- | :--- | :--- | :--- | -| | | | | +| 32×32 UVC MuJoCo wrist camera assembly | RealSense D435i MuJoCo wrist camera assembly | RealSense D405 MuJoCo wrist camera assembly | Orbbec Gemini 2 MuJoCo wrist camera assembly | | [STEP](hardware/camera-mounts/b601-camera-mounts/UVC32_mount.step) | [STEP](hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step) | [STEP](hardware/camera-mounts/b601-camera-mounts/D405_305_Mount.step) · [設計説明](https://github.com/bowenszhu/rebot-b601-rs-d405-wrist-mount/tree/v1.0.0) | [STEP](hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step) | +プレビューは B601-RS に取り付けた UVC32、D435i、D405、Gemini 2 を示します。マウントは B601-DM と共通です。[URDF と組み立て手順](Rebot_Arm_description/Camera/README.md)。UVC32 は公式のマウント CAD とカメラ基板の模式モデルを使用します。 + ### マスターアーム（Leader Arm）対応 | Star Arm 102-LD | 各種アームの接続・互換に対応予定 | @@ -263,7 +265,7 @@ reBot-DevArm は単なるロボットアームではなく、ロボティクス **🎃 プロトタイプ貢献者** -- SeeedStudio AI Robotics Team —— Yaohui Zhu（yaohui.zhu@seeed.cc） +- SeeedStudio AI Robotics Team —— Yaohui Zhu（[yaohui.zhu@seeed.cc](mailto:yaohui.zhu@seeed.cc)） - SeeedStudio STU —— Wentao Dong - SeeedStudio STU —— Weiwei Xu - SeeedStudio Purchasing Department —— Fengqun Peng @@ -316,5 +318,5 @@ reBot Arm ロボットアームプロジェクトは、常に「機敏性・開 ## ☎ お問い合わせ -- **オープンソース進捗 & 技術サポート** —— Yaohui：yaohui.zhu@seeed.cc -- **今後の協業 & カスタマイズ** —— Elaine：elaine.wu@seeed.cc +- **オープンソース進捗 & 技術サポート** —— Yaohui：[yaohui.zhu@seeed.cc](mailto:yaohui.zhu@seeed.cc) +- **今後の協業 & カスタマイズ** —— Elaine：[elaine.wu@seeed.cc](mailto:elaine.wu@seeed.cc) diff --git a/README_es.md b/README_es.md index 9a526ac..be8ac98 100644 --- a/README_es.md +++ b/README_es.md @@ -183,9 +183,11 @@ Estos soportes de cámara de muñeca son comunes a **B601-RS y B601-DM**. Consul | UVC 32×32 | Intel D435i | Intel D405 & Gemini 305 | Gemini 2 | | :--- | :--- | :--- | :--- | -| | | | | +| 32×32 UVC MuJoCo wrist camera assembly | RealSense D435i MuJoCo wrist camera assembly | RealSense D405 MuJoCo wrist camera assembly | Orbbec Gemini 2 MuJoCo wrist camera assembly | | [STEP](hardware/camera-mounts/b601-camera-mounts/UVC32_mount.step) | [STEP](hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step) | [STEP](hardware/camera-mounts/b601-camera-mounts/D405_305_Mount.step) · [notas de diseño](https://github.com/bowenszhu/rebot-b601-rs-d405-wrist-mount/tree/v1.0.0) | [STEP](hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step) | +Las vistas muestran los conjuntos UVC32, D435i, D405 y Gemini 2 en el B601-RS; los soportes son compartidos con el B601-DM. [URDF e instrucciones de montaje](Rebot_Arm_description/Camera/README.md). UVC32 usa el CAD oficial del soporte con una placa de cámara esquemática. + ### Compatible con el Leader Arm | Star Arm 102-LD | Abierto a integraciones de compatibilidad | diff --git a/README_zh.md b/README_zh.md index 23463e7..c3b9b06 100644 --- a/README_zh.md +++ b/README_zh.md @@ -177,9 +177,11 @@ reBot-DevArm 专为桌面级具身智能应用设计，兼顾负载能力与灵 | 32×32 UVC 相机 | Intel D435i | Intel D405 & Gemini 305 | Gemini 2 | | :--- | :--- | :--- | :--- | -| 32×32 UVC 相机支架 | | | | +| 32×32 UVC MuJoCo wrist camera assembly | RealSense D435i MuJoCo wrist camera assembly | RealSense D405 MuJoCo wrist camera assembly | Orbbec Gemini 2 MuJoCo wrist camera assembly | | [STEP 模型文件](hardware/camera-mounts/b601-camera-mounts/UVC32_mount.step) | [STEP 模型文件](hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step) | [STEP 模型文件](hardware/camera-mounts/b601-camera-mounts/D405_305_Mount.step) · [设计说明](https://github.com/bowenszhu/rebot-b601-rs-d405-wrist-mount/tree/v1.0.0) | [STEP 模型文件](hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step) | +预览图展示 B601-RS 上的 UVC32、D435i、D405 和 Gemini 2 装配，支架与 B601-DM 通用。[URDF 和装配说明](Rebot_Arm_description/Camera/README.md)。UVC32 使用官方支架 CAD 和相机板示意模型。 + ### 兼容主臂（Leader Arm） | Star Arm 102-LD | 欢迎各类机械臂兼容接入 | @@ -257,7 +259,7 @@ reBot-DevArm 不仅是一个机械臂，更是一个机器人学习社区。我 **🎃 原型机贡献者** -- SeeedStudio AI Robotics Team —— Yaohui Zhu（yaohui.zhu@seeed.cc） +- SeeedStudio AI Robotics Team —— Yaohui Zhu（[yaohui.zhu@seeed.cc](mailto:yaohui.zhu@seeed.cc)） - SeeedStudio STU —— Wentao Dong - SeeedStudio STU —— Weiwei Xu - SeeedStudio Purchasing Department —— Fengqun Peng @@ -310,5 +312,5 @@ reBot Arm 机械臂项目始终秉持「敏捷、开放、担当、共生」的 ## ☎ 联系我们 -- **开源进度 & 技术支持** —— 耀晖：yaohui.zhu@seeed.cc -- **未来合作 & 轻量化定制** —— Elaine：elaine.wu@seeed.cc +- **开源进度 & 技术支持** —— 耀晖：[yaohui.zhu@seeed.cc](mailto:yaohui.zhu@seeed.cc) +- **未来合作 & 轻量化定制** —— Elaine：[elaine.wu@seeed.cc](mailto:elaine.wu@seeed.cc) diff --git a/Rebot_Arm_description/Camera/README.md b/Rebot_Arm_description/Camera/README.md index cb0d876..7b23860 100644 --- a/Rebot_Arm_description/Camera/README.md +++ b/Rebot_Arm_description/Camera/README.md @@ -1,14 +1,22 @@ # B601-RS / B601-DM 通用腕部相机描述 / Shared Wrist Camera Assemblies -本目录提供 B601-RS 与 B601-DM 通用的 RealSense D405、RealSense D435i 和 Orbbec Gemini 2 三套相机装配资源。两款机械臂共用相机本体、支架及网格，可复用同一套相机装配 URDF；接入各自机械臂时需对齐腕部安装参考系。资源包含安装位置、安装螺钉参考系及光学坐标系，与 `ReBot_Arm_DigitalTwin_RS` 中已验证的版本一致。 +本目录提供 B601-RS 与 B601-DM 通用的 32×32 UVC、RealSense D405、RealSense D435i 和 Orbbec Gemini 2 四套相机装配资源。两款机械臂共用相机本体、支架及网格，可复用同一套相机装配 URDF；接入各自机械臂时需对齐腕部安装参考系。资源包含安装位置、安装螺钉参考系及光学坐标系，与 `ReBot_Arm_DigitalTwin_RS` 中已验证的版本一致。 -This directory provides RealSense D405, RealSense D435i and Orbbec Gemini 2 camera assemblies shared by B601-RS and B601-DM. Both arms share the camera bodies, brackets and meshes and can reuse the same camera assembly URDFs after aligning their wrist mounting reference frames. The assets include mounting poses, screw reference frames and optical frames and match the tested version in `ReBot_Arm_DigitalTwin_RS`. +This directory provides 32×32 UVC, RealSense D405, RealSense D435i and Orbbec Gemini 2 camera assemblies shared by B601-RS and B601-DM. Both arms share the camera bodies, brackets and meshes and can reuse the same camera assembly URDFs after aligning their wrist mounting reference frames. The assets include mounting poses, screw reference frames and optical frames and match the tested version in `ReBot_Arm_DigitalTwin_RS`. ## MuJoCo 装配预览 / MuJoCo Assembly Previews -以下三张 MuJoCo 仿真截图以 B601-RS 为展示平台，展示 RS、DM 共用的三款相机及支架装配。 +以下四张 MuJoCo 仿真截图以 B601-RS 为展示平台，展示 RS、DM 共用的四款相机及支架装配。 -These three MuJoCo simulation screenshots use B601-RS to illustrate the camera and bracket assemblies shared by RS and DM. +These four MuJoCo simulation screenshots use B601-RS to illustrate the camera and bracket assemblies shared by RS and DM. + +### 32×32 UVC + +![32×32 UVC：MuJoCo 腕部相机装配截图 / MuJoCo wrist camera assembly](images/uvc32-mujoco.png) + +UVC 支架由官方 `UVC32_mount.step` 生成。相机安装面及 28×28 mm 孔距从 CAD 提取，夹持接口与现有 B601 相机支架对齐。相机板为 32×32×1.6 mm 的通用仿真示意模型，镜筒和镜片尺寸为显示用参数；该 STEP 不含厂家相机本体。装配描述：[`urdf/uvc32.urdf`](urdf/uvc32.urdf)。 + +The UVC bracket is generated from the official `UVC32_mount.step`. Its mounting plane and 28×28 mm hole spacing are extracted from CAD, and its clamp interface is aligned with the existing B601 bracket. The camera board is a generic 32×32×1.6 mm simulation schematic; lens barrel and glass dimensions are visualization parameters. The STEP does not contain a vendor camera body. Assembly description: [`urdf/uvc32.urdf`](urdf/uvc32.urdf). ### RealSense D405 @@ -40,29 +48,33 @@ Gemini 2 camera with the D435 / Gemini 2 bracket. Assembly description: [`urdf/g Camera/ ├── README.md ├── images/ # MuJoCo 装配截图 / assembly screenshots +│ ├── uvc32-mujoco.png │ ├── d405-mujoco.png │ ├── d435i-mujoco.png │ └── gemini2-mujoco.png ├── urdf/ +│ ├── uvc32.urdf │ ├── d405.urdf │ ├── d435i.urdf │ └── gemini2.urdf ├── meshes/ │ ├── mounts/ # 安装支架 / mounting brackets +│ ├── uvc32/ # 通用 UVC 相机板和镜头 / schematic board and lens │ ├── realsense/ # D405 STL 和 D435 Collada / camera meshes │ └── gemini2/ # Gemini 2 STL -├── source/ # 上游 Xacro / upstream Xacro files +├── source/ # 来源 CAD / Xacro / source CAD and Xacros ├── source.json # 来源版本和哈希 / source revisions and hashes ├── licenses/ └── scripts/ - └── build-wrist-camera-urdfs.py + ├── build-wrist-camera-urdfs.py + └── build-uvc32-assets.py ``` ## 使用方式 / Usage -三个 URDF 都以空的 `gripper_end` link 为根，保留相机装配的腕部安装参考系。机械臂本体分别见 [RS URDF](../RS/urdf/ReBot_Arm_RS.urdf) 和 [DM URDF](../DM/urdf/ReBot_Arm_DM.urdf)。RS 可挂到现有的 `gripper_end` link；本仓库 DM 描述的末端 link 名为 `end_link`，接入时需建立对应的固定安装变换，将相机根参考系对齐到实际安装位置。 +四个 URDF 都以空的 `gripper_end` link 为根，保留相机装配的腕部安装参考系。机械臂本体分别见 [RS URDF](../RS/urdf/ReBot_Arm_RS.urdf) 和 [DM URDF](../DM/urdf/ReBot_Arm_DM.urdf)。RS 可挂到现有的 `gripper_end` link；本仓库 DM 描述的末端 link 名为 `end_link`，接入时需建立对应的固定安装变换，将相机根参考系对齐到实际安装位置。 -All three URDFs use an empty `gripper_end` link as the camera assembly root and wrist mounting reference. Arm descriptions are available in the [RS URDF](../RS/urdf/ReBot_Arm_RS.urdf) and [DM URDF](../DM/urdf/ReBot_Arm_DM.urdf). RS can attach the camera to its existing `gripper_end` link. The DM description in this repository uses `end_link`; integrate it with a fixed mounting transform that aligns the camera root reference frame with the physical mounting location. +All four URDFs use an empty `gripper_end` link as the camera assembly root and wrist mounting reference. Arm descriptions are available in the [RS URDF](../RS/urdf/ReBot_Arm_RS.urdf) and [DM URDF](../DM/urdf/ReBot_Arm_DM.urdf). RS can attach the camera to its existing `gripper_end` link. The DM description in this repository uses `end_link`; integrate it with a fixed mounting transform that aligns the camera root reference frame with the physical mounting location. 合并到 RS URDF 时，删除相机描述中作为占位的空 `gripper_end` link，再合入其余 link、joint 和 material，避免重复定义。合并到 DM URDF 时，可保留相机根参考 link，并用固定 joint 连接到 `end_link`，在该 joint 中设置安装参考系变换。合并到其他目录时，需要同步调整网格路径。 @@ -72,34 +84,40 @@ When merging into the RS URDF, remove the empty placeholder `gripper_end` link f Mesh paths are relative to the `urdf/` directory, so copy the entire `Camera/` directory. For ROS / RViz, convert paths to `package://` URIs for the destination ROS package and install all assets. D435i uses the D435 Collada (`.dae`) body mesh, which requires Collada support in the loader. -加载已生成的 URDF 不需要厂家描述包、Xacro 或联网。三套描述共用部分 link 名称，使用时选择其中一套。 +加载已生成的 URDF 不需要厂家描述包、Xacro 或联网。四套描述共用部分 link 名称，使用时选择其中一套。 Loading the generated URDFs requires no vendor description packages, Xacro or network access. Select one assembly at a time because the descriptions share some link names. ## 安装参数 / Mounting Parameters -下表保留上游装配 Xacro 的值。XYZ 单位为米，RPY 单位为弧度。支架坐标相对于相机装配的 `gripper_end` 根参考系，相机坐标相对于支架 link；D405、D435i 的相机位置指底部安装螺钉参考系，Gemini 2 的相机位置指 `camera_link`。 +D405、D435i、Gemini 2 保留上游装配 Xacro 的值，UVC 参数由 CAD 安装接口生成。XYZ 单位为米，RPY 单位为弧度。支架坐标相对于相机装配的 `gripper_end` 根参考系，相机坐标相对于支架 link；D405、D435i 的相机位置指底部安装螺钉参考系，Gemini 2 的相机位置指 `camera_link`。 -The values below are preserved from the upstream assembly Xacros. XYZ is in metres and RPY is in radians. Bracket poses are relative to the camera assembly’s `gripper_end` root reference frame; camera poses are relative to the bracket link. D405 and D435i camera poses refer to their bottom mounting screw frames, while the Gemini 2 pose refers to `camera_link`. +D405, D435i and Gemini 2 values are preserved from upstream assembly Xacros; UVC parameters are derived from the CAD mounting interfaces. XYZ is in metres and RPY is in radians. Bracket poses are relative to the camera assembly’s `gripper_end` root reference frame; camera poses are relative to the bracket link. D405 and D435i camera poses refer to their bottom mounting screw frames, while the Gemini 2 pose refers to `camera_link`. | 型号 / Model | 支架 / Bracket XYZ | 支架 / Bracket RPY | 相机 / Camera XYZ | 相机 / Camera RPY | | --- | --- | --- | --- | --- | +| 32×32 UVC | -0.09405919 -0.00025356929 0.029971822 | 1.5827 0.0024 1.5515 | 1.4555e-06 0.075070257 -0.027403049 | -0.60145586 0 3.1415927 | | D405 | -0.1201 0.0003 0.0507 | 1.5827 0.0024 1.5515 | -0.0003 0.0443 -0.0093 | -0.0225 -1.0448 -1.5460 | | D435i | -0.1201 0.0003 0.0450 | 1.5827 0.0024 1.5515 | -0.0003 0.0445 -0.0095 | 0.0126 -1.0489 -1.5981 | | Gemini 2 | -0.1201 0.0003 0.0450 | 1.5827 0.0024 1.5515 | 0.0249 0.0487 0.0090 | 0.0042 -1.0502 -1.5718 | +UVC 支架的 `camera_mount_link` 参考系位于夹持接口中心，相机坐标指相机板背面中心。UVC 光学原点名义上位于镜片前端；模拟视场与其他三款相机一致，不代表真实设备标定。 + +The UVC bracket’s `camera_mount_link` reference frame is at the clamp center, and its camera pose refers to the back-center of the board. The nominal optical origin is at the lens front. Its simulation field of view matches the other three variants and does not represent a physical-device calibration. + ## 来源与许可 / Sources and Licensing | 资源 / Assets | 来源及版本 / Source and Revision | 许可 / License | | --- | --- | --- | | 装配 Xacro 和转换后的支架 STL / Assembly Xacros and converted bracket meshes | [`xiehuangbao888/rebot_visual_grasp`](https://github.com/xiehuangbao888/rebot_visual_grasp/tree/dd28d65598deec767cf95fa45521d69b38155833/description), `dd28d65598deec767cf95fa45521d69b38155833` | 包声明 / Package declares Apache-2.0 | | 支架 CAD 来源 / Bracket CAD provenance | [`Yang-Ci/Camera-Mounts`](https://github.com/Yang-Ci/Camera-Mounts)，注明设计来自 / attributes the designs to Seeed-Projects/reBot-DevArm | CERN-OHL-W-2.0 | +| UVC 支架 CAD 和用于接口对齐的 D435 支架 CAD / UVC bracket CAD and D435 reference clamp CAD | [`Seeed-Projects/reBot-DevArm`](https://github.com/Seeed-Projects/reBot-DevArm/tree/875f274/hardware/camera-mounts/b601-camera-mounts) | CERN-OHL-W-2.0 | | RealSense Xacro 和相机网格 / RealSense Xacros and camera meshes | [`realsenseai/realsense-ros`](https://github.com/realsenseai/realsense-ros/tree/9215f26e8348ad5922a608b77882a9bfe05940f0/realsense2_description), `9215f26e8348ad5922a608b77882a9bfe05940f0` | Apache-2.0 | | Gemini 2 Xacro 和网格 / Gemini 2 Xacro and meshes | [`orbbec/OrbbecSDK_ROS2`](https://github.com/orbbec/OrbbecSDK_ROS2/tree/c153462518ad674650bafa4464fda72c27ab797a/orbbec_description), `c153462518ad674650bafa4464fda72c27ab797a` | Apache-2.0 | -本次资源从 [`ReBot_Arm_DigitalTwin_RS`](https://github.com/Yang-Ci/ReBot_Arm_DigitalTwin_RS/tree/8e153cb248e30ae2f82275f26ec3f94768852784/reBotArm_simulator-RS/public/models/wrist-cameras) 的提交 `8e153cb248e30ae2f82275f26ec3f94768852784` 同步。支架 STL 是 `rebot_visual_grasp` 提供的转换版本。许可文本位于 `licenses/`；`source.json` 记录原始路径、版本、字节数和 SHA-256。`source/` 和 `meshes/` 保留上游原始文件内容。 +前三款相机资源从 [`ReBot_Arm_DigitalTwin_RS`](https://github.com/Yang-Ci/ReBot_Arm_DigitalTwin_RS/tree/8e153cb248e30ae2f82275f26ec3f94768852784/reBotArm_simulator-RS/public/models/wrist-cameras) 的提交 `8e153cb248e30ae2f82275f26ec3f94768852784` 同步。支架 STL 是 `rebot_visual_grasp` 提供的转换版本。许可文本位于 `licenses/`；`source.json` 记录原始路径、版本、字节数和 SHA-256。上游原始文件按 `assets` 中的哈希保留。UVC 支架网格、示意本体及装配 Xacro 是生成文件，其哈希单独记录于 `generated_assets`；生成脚本采用 Apache-2.0，支架派生几何沿用 CERN-OHL-W-2.0。 -The assets were imported from [`ReBot_Arm_DigitalTwin_RS`](https://github.com/Yang-Ci/ReBot_Arm_DigitalTwin_RS/tree/8e153cb248e30ae2f82275f26ec3f94768852784/reBotArm_simulator-RS/public/models/wrist-cameras) at commit `8e153cb248e30ae2f82275f26ec3f94768852784`. The bracket STLs are the converted versions supplied by `rebot_visual_grasp`. License texts are in `licenses/`; `source.json` records original paths, revisions, byte sizes and SHA-256 hashes. Files in `source/` and `meshes/` retain their original upstream contents. +The original three camera assemblies were imported from [`ReBot_Arm_DigitalTwin_RS`](https://github.com/Yang-Ci/ReBot_Arm_DigitalTwin_RS/tree/8e153cb248e30ae2f82275f26ec3f94768852784/reBotArm_simulator-RS/public/models/wrist-cameras) at commit `8e153cb248e30ae2f82275f26ec3f94768852784`. The bracket STLs are the converted versions supplied by `rebot_visual_grasp`. License texts are in `licenses/`; `source.json` records original paths, revisions, byte sizes and SHA-256 hashes. Original upstream files retain the hashes recorded in `assets`. Generated UVC bracket/body meshes and assembly Xacro are recorded separately in `generated_assets`; the generator uses Apache-2.0 and the derived bracket geometry retains CERN-OHL-W-2.0. ## 重新生成 URDF / Regenerate URDFs @@ -114,3 +132,12 @@ python3 Camera/scripts/build-wrist-camera-urdfs.py 脚本只使用本目录附带的源文件，将上游机械臂 include 替换为空的安装参考 link，展开相机宏，并把网格 package URI 转换为相对路径。 The script uses only the bundled source files. It replaces the upstream arm include with an empty mounting reference link, expands camera macros and converts mesh package URIs to relative paths. + +重新生成 UVC 网格和装配源文件时，需额外安装开发依赖 `cadquery==2.5.2`、`numpy`、`scipy`，然后在 `Rebot_Arm_description/` 目录执行以下两步。运行仿真或加载 URDF 不需要 CAD 开发依赖。 + +To regenerate the UVC meshes and assembly source, install the developer dependencies `cadquery==2.5.2`, `numpy` and `scipy`, then run both commands from `Rebot_Arm_description/`. Running the simulation or loading URDFs does not require CAD dependencies. + +```bash +python3 Camera/scripts/build-uvc32-assets.py +python3 Camera/scripts/build-wrist-camera-urdfs.py +``` diff --git a/Rebot_Arm_description/Camera/images/uvc32-mujoco.png b/Rebot_Arm_description/Camera/images/uvc32-mujoco.png new file mode 100644 index 0000000..4dac4b8 Binary files /dev/null and b/Rebot_Arm_description/Camera/images/uvc32-mujoco.png differ diff --git a/Rebot_Arm_description/Camera/meshes/mounts/UVC32_mount.stl b/Rebot_Arm_description/Camera/meshes/mounts/UVC32_mount.stl new file mode 100644 index 0000000..3c73871 Binary files /dev/null and b/Rebot_Arm_description/Camera/meshes/mounts/UVC32_mount.stl differ diff --git a/Rebot_Arm_description/Camera/meshes/uvc32/board.stl b/Rebot_Arm_description/Camera/meshes/uvc32/board.stl new file mode 100644 index 0000000..d14fd04 Binary files /dev/null and b/Rebot_Arm_description/Camera/meshes/uvc32/board.stl differ diff --git a/Rebot_Arm_description/Camera/meshes/uvc32/glass.stl b/Rebot_Arm_description/Camera/meshes/uvc32/glass.stl new file mode 100644 index 0000000..58f0177 Binary files /dev/null and b/Rebot_Arm_description/Camera/meshes/uvc32/glass.stl differ diff --git a/Rebot_Arm_description/Camera/meshes/uvc32/lens.stl b/Rebot_Arm_description/Camera/meshes/uvc32/lens.stl new file mode 100644 index 0000000..b63d1a5 Binary files /dev/null and b/Rebot_Arm_description/Camera/meshes/uvc32/lens.stl differ diff --git a/Rebot_Arm_description/Camera/scripts/build-uvc32-assets.py b/Rebot_Arm_description/Camera/scripts/build-uvc32-assets.py new file mode 100644 index 0000000..aae526d --- /dev/null +++ b/Rebot_Arm_description/Camera/scripts/build-uvc32-assets.py @@ -0,0 +1,156 @@ +#!/usr/bin/env python3 +"""Derive the UVC bracket from STEP and create a schematic 32 mm camera board. + +Developer dependencies: cadquery 2.5.2, numpy, scipy. No CAD dependency is +required to load the generated URDFs or run either simulator. +SPDX-License-Identifier: Apache-2.0 +""" +from pathlib import Path +import hashlib +import json +import struct +import xml.etree.ElementTree as ET + +import cadquery as cq +import numpy as np +from scipy.spatial.transform import Rotation + +ROOT = Path(__file__).resolve().parents[1] +CAD = ROOT / "source/seeed_projects/hardware/camera-mounts/b601-camera-mounts" + + +def circle_centers(shape, radius): + return np.unique(np.array([ + np.round(edge.arcCenter().toTuple(), 7) + for edge in shape.Edges() + if edge.geomType() == "CIRCLE" and abs(edge.radius() - radius) < 1e-6 + ]), axis=0) + + +def clamp_center(shape): + # The common B601 clamp has 3.3 mm bolt holes and a 20.4 mm cavity. + holes = circle_centers(shape, 1.65) + holes = holes[np.abs(holes[:, 1] - holes[:, 1].min()) < 1e-4] + levels = np.unique(holes[:, 2]) + assert len(levels) == 4 and abs(levels[2] - levels[1] - 20.4) < 1e-5 + return np.array([holes[:, 0].mean(), holes[:, 1].mean(), levels[1:3].mean()]) + + +def write_stl(shape, path): + vertices, indices = shape.tessellate(0.05, 0.1) + triangles = np.array([v.toTuple() for v in vertices], dtype=np.float32)[indices] + normals = np.cross(triangles[:, 1] - triangles[:, 0], triangles[:, 2] - triangles[:, 0]) + norms = np.linalg.norm(normals, axis=1) + normals /= np.maximum(norms[:, None], 1e-12) + records = np.zeros(len(triangles), dtype=[("normal", " 0.5 and len(circle_centers(face, 0.95)) == 4] + assert len(candidates) == 1, "Expected one front camera-board mounting plane" + plate = candidates[0] + holes = circle_centers(plate, 0.95) + board_center = holes.mean(axis=0) + forward = np.array(plate.normalAt().toTuple()) + # +Z optical forward, +X right, +Y down on the upright camera plate. + right = np.array([-1.0, 0.0, 0.0]) + down = np.cross(forward, right) + camera_rotation = np.column_stack((right, down, forward)) + board_holes = (holes - board_center) @ camera_rotation + np.testing.assert_allclose(np.abs(board_holes[:, :2]), 14.0, atol=1e-5) + np.testing.assert_allclose(board_holes[:, 2], 0, atol=1e-5) + + # Put the UVC mesh origin at its clamp center. The D435 CAD clamp center + # anchors it to the already validated B601 wrist attachment transform. + reference_urdf = ET.parse(ROOT / "urdf/d435i.urdf").getroot() + origin = reference_urdf.find("joint[@name='gripper_to_mount']/origin") + rpy = np.fromstring(origin.get("rpy"), sep=" ") + mount_xyz = np.fromstring(origin.get("xyz"), sep=" ") + Rotation.from_euler( + "xyz", rpy).apply(reference_center * 0.001) + camera_xyz = (board_center - center) * 0.001 + camera_rpy = Rotation.from_matrix(camera_rotation).as_euler("xyz") + + outputs = [ROOT / "meshes/mounts/UVC32_mount.stl"] + write_stl(bracket.translate(tuple(-center)), outputs[0]) + board = cq.Workplane("XY").box(32, 32, 1.6, centered=(True, True, False)) + board = board.faces(">Z").workplane().pushPoints( + [tuple(point[:2]) for point in board_holes]).hole(1.9).val() + # Board thickness and lens dimensions are schematic simulation choices; + # the supplied STEP contains only the bracket, not a vendor camera body. + lens = cq.Workplane("XY").circle(4).extrude(8).translate((0, 0, 1.6)).val() + glass = cq.Workplane("XY").circle(3.4).extrude(0.3).translate((0, 0, 9.6)).val() + for name, shape in (("board", board), ("lens", lens), ("glass", glass)): + path = ROOT / "meshes/uvc32" / f"{name}.stl" + write_stl(shape, path) + outputs.append(path) + + robot = ET.Element("robot", {"xmlns:xacro": "http://www.ros.org/wiki/xacro", + "name": "rebotarm_rs_uvc32"}) + robot.append(ET.Comment("Official STEP bracket; generic board/lens are schematic, not calibrated.")) + ET.SubElement(robot, "link", name="gripper_end") + + def visual(link, uri, color): + node = ET.SubElement(link, "visual") + geometry = ET.SubElement(node, "geometry") + ET.SubElement(geometry, "mesh", filename=uri, scale="0.001 0.001 0.001") + material = ET.SubElement(node, "material", name=f"{link.get('name')}_uvc32_{len(link)}") + ET.SubElement(material, "color", rgba=color) + + def joint(name, parent, child, xyz, angles): + node = ET.SubElement(robot, "joint", name=name, type="fixed") + ET.SubElement(node, "parent", link=parent) + ET.SubElement(node, "child", link=child) + ET.SubElement(node, "origin", xyz=numbers(xyz), rpy=numbers(angles)) + + mount = ET.SubElement(robot, "link", name="camera_mount_link") + visual(mount, "package://uvc32_description/meshes/mounts/UVC32_mount.stl", "0.7 0.73 0.75 1") + joint("gripper_to_mount", "gripper_end", "camera_mount_link", mount_xyz, rpy) + camera = ET.SubElement(robot, "link", name="camera_link") + for name, color in (("board", "0.06 0.32 0.14 1"), ("lens", "0.035 0.035 0.04 1"), + ("glass", "0.04 0.14 0.22 1")): + visual(camera, f"package://uvc32_description/meshes/uvc32/{name}.stl", color) + joint("mount_to_camera", "camera_mount_link", "camera_link", camera_xyz, camera_rpy) + ET.SubElement(robot, "link", name="camera_color_frame") + joint("camera_color_joint", "camera_link", "camera_color_frame", [0, 0, 0.0099], [0, 0, 0]) + ET.SubElement(robot, "link", name="camera_color_optical_frame") + joint("camera_color_optical_joint", "camera_color_frame", "camera_color_optical_frame", [0, 0, 0], [0, 0, 0]) + ET.indent(robot, space=" ") + xacro = ROOT / "source/uvc32_description/urdf/rebotarm_rs_with_uvc32.urdf.xacro" + xacro.parent.mkdir(parents=True, exist_ok=True) + xacro.write_text('\n' + ET.tostring(robot, encoding="unicode") + "\n") + outputs.append(xacro) + + manifest_path = ROOT / "source.json" + manifest = json.loads(manifest_path.read_text()) + manifest["uvc32"] = {"body": "generic 32x32 mm schematic; not a vendor camera model", + "board_size_mm": [32, 32, 1.6], "board_hole_pitch_mm": [28, 28], + "mount_xyz": mount_xyz.tolist(), "mount_rpy": rpy.tolist(), + "camera_xyz": camera_xyz.tolist(), "camera_rpy": camera_rpy.tolist(), + "cad_clamp_center_mm": center.tolist(), + "cad_board_contact_center_mm": board_center.tolist(), + "cad_plate_normal": forward.tolist(), "cadquery_version": cq.__version__, + "optical_frame": "nominal lens-front origin; simulation FOV is not calibrated"} + manifest["generated_assets"] = [{"file": str(path.relative_to(ROOT)), + "bytes": path.stat().st_size, + "sha256": hashlib.sha256(path.read_bytes()).hexdigest()} + for path in outputs] + manifest_path.write_text(json.dumps(manifest, indent=2) + "\n") + print(json.dumps(manifest["uvc32"], indent=2)) + + +if __name__ == "__main__": + build() diff --git a/Rebot_Arm_description/Camera/scripts/build-wrist-camera-urdfs.py b/Rebot_Arm_description/Camera/scripts/build-wrist-camera-urdfs.py index a469133..84179b6 100644 --- a/Rebot_Arm_description/Camera/scripts/build-wrist-camera-urdfs.py +++ b/Rebot_Arm_description/Camera/scripts/build-wrist-camera-urdfs.py @@ -9,11 +9,13 @@ import xacro ROOT = Path(__file__).resolve().parents[1] -PACKAGES = ("rebot_visual_grasp", "realsense2_description", "orbbec_description") +PACKAGES = ("rebot_visual_grasp", "realsense2_description", "orbbec_description", "uvc32_description") MESH_PATHS = { "rebot_visual_grasp/description/meshes/": "mounts/", "realsense2_description/meshes/": "realsense/", "orbbec_description/meshes/gemini2/": "gemini2/", + "uvc32_description/meshes/mounts/": "mounts/", + "uvc32_description/meshes/uvc32/": "uvc32/", } @@ -32,8 +34,9 @@ def build(): text = text.replace(f"$(find {package})", str(staging / package)) path.write_text(text) - for model in ("d405", "d435i", "gemini2"): - path = staging / "rebot_visual_grasp/description/urdf" / f"rebotarm_rs_with_{model}.urdf.xacro" + for model in ("d405", "d435i", "gemini2", "uvc32"): + package = "uvc32_description/urdf" if model == "uvc32" else "rebot_visual_grasp/description/urdf" + path = staging / package / f"rebotarm_rs_with_{model}.urdf.xacro" document = xacro.process_file(str(path)) # Vendor macros provide the body, screw frame and optical frames; # assembly origins above are preserved verbatim from the source. diff --git a/Rebot_Arm_description/Camera/source.json b/Rebot_Arm_description/Camera/source.json index 7d3c225..c5f20ca 100644 --- a/Rebot_Arm_description/Camera/source.json +++ b/Rebot_Arm_description/Camera/source.json @@ -12,6 +12,10 @@ "orbbec_description": { "url": "https://github.com/orbbec/OrbbecSDK_ROS2", "commit": "c153462518ad674650bafa4464fda72c27ab797a" + }, + "seeed_projects": { + "url": "https://github.com/Seeed-Projects/reBot-DevArm", + "commit": "875f274deda768fbcfffd67636dda0265ce399ed" } }, "assets": [ @@ -175,11 +179,101 @@ "upstream_path": "realsense2_description/meshes/d435.dae", "bytes": 15782439, "sha256": "42f3b66f47a1f8f425a2e4dc07c1d9c283183167d8441f520a15623d98f9bf78" + }, + { + "file": "source/seeed_projects/hardware/camera-mounts/b601-camera-mounts/UVC32_mount.step", + "package": "seeed_projects", + "upstream_path": "hardware/camera-mounts/b601-camera-mounts/UVC32_mount.step", + "bytes": 321947, + "sha256": "d1df135e36b90db9bd0c0a724b80d72166e42bfc56e510939958d21b5d65b8bf" + }, + { + "file": "source/seeed_projects/hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step", + "package": "seeed_projects", + "upstream_path": "hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step", + "bytes": 607280, + "sha256": "bf300894ec5678f647ac60cc5871c1126f692145e106bb4ca3c14920d6293b68" + } + ], + "uvc32": { + "body": "generic 32x32 mm schematic; not a vendor camera model", + "board_size_mm": [ + 32, + 32, + 1.6 + ], + "board_hole_pitch_mm": [ + 28, + 28 + ], + "mount_xyz": [ + -0.0940591902018456, + -0.00025356928883057825, + 0.029971822207282752 + ], + "mount_rpy": [ + 1.5827, + 0.0024, + 1.5515 + ], + "camera_xyz": [ + 1.4555000000004981e-06, + 0.07507025725000001, + -0.0274030491 + ], + "camera_rpy": [ + -0.6014558556803211, + 0.0, + 3.141592653589793 + ], + "cad_clamp_center_mm": [ + 0.0, + 7.1098943, + 24.3103768 + ], + "cad_board_contact_center_mm": [ + 0.001455500000000498, + 82.18015155, + -3.0926722999999994 + ], + "cad_plate_normal": [ + 0.0, + -0.5658434441295098, + 0.8245127025920548 + ], + "cadquery_version": "2.5.2", + "optical_frame": "nominal lens-front origin; simulation FOV is not calibrated" + }, + "generated_assets": [ + { + "file": "meshes/mounts/UVC32_mount.stl", + "bytes": 614784, + "sha256": "4e093b5d6694cf8e2105e58b2b6ea027516ee9b4f556ee49ca2a77eb32d28080" + }, + { + "file": "meshes/uvc32/board.stl", + "bytes": 102284, + "sha256": "c1939b6787dc7ca0f65717363a73312d24831edb2c22fab652697a79d3d70da2" + }, + { + "file": "meshes/uvc32/lens.stl", + "bytes": 25084, + "sha256": "5a9f3104a41163acabaf19a5e55eb4a15b9986e199dddbf6491c07712e23a76b" + }, + { + "file": "meshes/uvc32/glass.stl", + "bytes": 25084, + "sha256": "4ace8e26956070a7300dc6c9f83416ce0f61bace4a686e9d86b4b1ba44d887b7" + }, + { + "file": "source/uvc32_description/urdf/rebotarm_rs_with_uvc32.urdf.xacro", + "bytes": 2313, + "sha256": "eb58a339b376605aebfeb96856522fae5a062122cafbd693e8404abf3ff31f20" } ], "imported_from": { "repository": "https://github.com/Yang-Ci/ReBot_Arm_DigitalTwin_RS", - "commit": "8e153cb248e30ae2f82275f26ec3f94768852784", + "commit": "ed0d28b8d9bfe5c6cc1619810a13d0e5358b1c3e", "path": "reBotArm_simulator-RS/public/models/wrist-cameras", "date": "2026-10-09" } diff --git a/Rebot_Arm_description/Camera/source/seeed_projects/hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step b/Rebot_Arm_description/Camera/source/seeed_projects/hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step new file mode 100644 index 0000000..1135019 --- /dev/null +++ b/Rebot_Arm_description/Camera/source/seeed_projects/hardware/camera-mounts/b601-camera-mounts/D435_Gemini2_Mount.step @@ -0,0 +1,7771 @@ +ISO-10303-21; 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-`Rebot_Arm_description/` collects the URDF and STL resources currently used by the B601-RS and B601-DM, together with D405, D435i and Gemini 2 wrist camera assemblies, for reuse in Web applications, RViz, ROS 2, MuJoCo, and other robotics projects. +`Rebot_Arm_description/` collects the URDF and STL resources currently used by the B601-RS and B601-DM, together with 32×32 UVC, D405, D435i and Gemini 2 wrist camera assemblies, for reuse in Web applications, RViz, ROS 2, MuJoCo, and other robotics projects. This directory uses relative paths and includes the meshes required for model rendering, URDF collision geometry, and detailed MuJoCo gripper collisions. When copying it, keep each complete model directory intact instead of flattening all STL files into a single directory. @@ -24,7 +24,7 @@ Rebot_Arm_description/ ├── Camera/ │ ├── README.md # 简体中文 / English │ ├── images/ # MuJoCo screenshots -│ ├── urdf/ # D405 / D435i / Gemini 2 camera assembly URDFs +│ ├── urdf/ # UVC32 / D405 / D435i / Gemini 2 camera assembly URDFs │ ├── meshes/ # bracket and camera STL / Collada meshes │ ├── source/ # upstream assembly and vendor Xacros │ ├── source.json # source revisions and file hashes @@ -51,7 +51,7 @@ Rebot_Arm_description/ └── mujoco_collision/ # 6 meshes: DM MuJoCo finger collisions only ``` -Wrist camera resources, mounting poses and MuJoCo assembly screenshots are documented in the bilingual [`Camera/README.md`](Camera/README.md). D405, D435i and Gemini 2 camera bodies, brackets, meshes and assembly URDFs are shared by B601-RS and B601-DM. Each assembly uses an empty `gripper_end` root reference frame; RS can attach it to the link of the same name, while DM uses `end_link` and requires a fixed mounting transform to align the reference frames. Copy the complete `Camera/` directory when reusing an assembly. +Wrist camera resources, mounting poses and MuJoCo assembly screenshots are documented in the bilingual [`Camera/README.md`](Camera/README.md). 32×32 UVC, D405, D435i and Gemini 2 camera bodies, brackets, meshes and assembly URDFs are shared by B601-RS and B601-DM. Each assembly uses an empty `gripper_end` root reference frame; RS can attach it to the link of the same name, while DM uses `end_link` and requires a fixed mounting transform to align the reference frames. Copy the complete `Camera/` directory when reusing an assembly. ## Mesh categories diff --git a/Rebot_Arm_description/README_zh.md b/Rebot_Arm_description/README_zh.md index 3fa73b0..be389f0 100644 --- a/Rebot_Arm_description/README_zh.md +++ b/Rebot_Arm_description/README_zh.md @@ -7,7 +7,7 @@

-`Rebot_Arm_description/` 汇总了 B601-RS 与 B601-DM 当前使用的 URDF、STL，以及 D405、D435i、Gemini 2 腕部相机装配资源，供 Web、RViz、ROS 2、MuJoCo 或其他机器人项目复用。 +`Rebot_Arm_description/` 汇总了 B601-RS 与 B601-DM 当前使用的 URDF、STL，以及 32×32 UVC、D405、D435i、Gemini 2 腕部相机装配资源，供 Web、RViz、ROS 2、MuJoCo 或其他机器人项目复用。 本目录采用相对路径，自带模型显示、URDF 碰撞和 MuJoCo 夹爪精细碰撞所需的网格。复制时建议保留整个版本目录，不要把 STL 全部摊平到同一层。 @@ -24,7 +24,7 @@ Rebot_Arm_description/ ├── Camera/ │ ├── README.md # 简体中文 / English │ ├── images/ # MuJoCo screenshots -│ ├── urdf/ # D405 / D435i / Gemini 2 相机装配 URDF +│ ├── urdf/ # UVC32 / D405 / D435i / Gemini 2 相机装配 URDF │ ├── meshes/ # 支架、相机本体 STL / Collada │ ├── source/ # 上游装配和厂家 Xacro │ ├── source.json # 来源版本和文件哈希 @@ -51,7 +51,7 @@ Rebot_Arm_description/ └── mujoco_collision/ # 6 个：仅用于 DM MuJoCo 夹指碰撞 ``` -腕部相机资源、安装位置和 MuJoCo 装配截图见中英文说明 [`Camera/README.md`](Camera/README.md)。D405、D435i、Gemini 2 的相机本体、支架、网格和装配 URDF 供 B601-RS 与 B601-DM 共用。相机装配以空的 `gripper_end` 为根参考系；RS 可挂到同名 link，DM 使用 `end_link`，需通过固定安装变换对齐参考系。复用时请保留整个 `Camera/` 目录。 +腕部相机资源、安装位置和 MuJoCo 装配截图见中英文说明 [`Camera/README.md`](Camera/README.md)。32×32 UVC、D405、D435i、Gemini 2 的相机本体、支架、网格和装配 URDF 供 B601-RS 与 B601-DM 共用。相机装配以空的 `gripper_end` 为根参考系；RS 可挂到同名 link，DM 使用 `end_link`，需通过固定安装变换对齐参考系。复用时请保留整个 `Camera/` 目录。 ## 分类含义