@tteja/node-red-dashboard-2-robot-arm 0.3.0

package/LICENSE

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+MIT License
+
+Copyright (c) 2026 Teja
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

package/README.md

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+# @tteja/node-red-dashboard-2-robot-arm
+
+A Node-RED robot-arm node for a **UR5e**: a 3D view of the real URDF meshes, a teach pendant, and optional ROS 2 joint feedback. On a Dashboard 2 page the arm and the pendant sit side by side. You can also drive the arm from Inject or Function nodes without a dashboard.
+
+Palette name: `@tteja/node-red-dashboard-2-robot-arm`. The `@tteja` scope is the name the Flow Library asks for on new packages. The `dashboard-2` part is required so an existing Dashboard 2 install will show the arm and pendant on the page. Guide: https://github.com/t-teja/node-red-contrib-robot-arm#readme
+
+## Add it in Node-RED
+
+1. Open the editor menu → **Manage palette** → **Install**.
+2. Search for `@tteja/node-red-dashboard-2-robot-arm` and install it.
+3. For the on-page 3D view and pendant, also install **@flowfuse/node-red-dashboard** (Dashboard 2) if it is not already there.
+4. Restart Node-RED if the new nodes do not appear. They show up under **robotics**, and the two dashboard widgets under **dashboard**.
+
+The `robot-arm` and `robot-arm-controller` nodes work without Dashboard 2. The `ui-ur5e-arm` and `ui-ur5e-controller` widgets need it.
+
+## The four nodes
+
+| Node | What you use it for |
+|------|---------------------|
+| **robot-arm** | The arm. Holds the UR5e model, accepts joint commands, and publishes the current joint state. |
+| **robot-arm-controller** | A teach pendant on its own page. Wire its output into **robot-arm**. |
+| **ui-ur5e-arm** | Dashboard 2 widget. Shows the 3D arm for a **robot-arm** node you pick. |
+| **ui-ur5e-controller** | Dashboard 2 widget. Pendant for that same **robot-arm** node. No extra wire is required. |
+
+```
+ Inject / Function / rosbridge          Dashboard 2 page
+            │                           ┌─ ui-ur5e-arm ────────┐
+            ▼                           │       3D view         │
+     ┌──────────────┐                   ├─ ui-ur5e-controller ─┤
+     │  robot-arm   │◀── pendant ───────│    joint sliders      │
+     └──────────────┘                   └───────────────────────┘
+```
+
+On **robot-arm**, choose the model:
+
+| Preset | What you get |
+|--------|----------------|
+| **ur5e** | UR5e arm, official-style meshes. This is the default. |
+| **ur5e-gripper** | The same arm plus a simple two-finger gripper on the tool. |
+
+## Use it on a dashboard
+
+This is the layout in example **05 Dashboard 2**.
+
+1. Import that example (see [Examples](#examples) below).
+2. Deploy.
+3. Open the Dashboard page **Robot Arm**. With a normal Dashboard 2 install that is `http://<your-node-red-host>:1880/dashboard/robot`.
+4. The left panel is the 3D arm. The right panel is the pendant.
+
+The base stays in the middle of the 3D panel, and the zoom fits the panel. You can orbit around the base. The pendant sliders, **Home**, and **Freeze** move that same arm.
+
+If you already have a dashboard, you do not have to import the whole example. Add a **robot-arm** node, then add **ui-ur5e-arm** and **ui-ur5e-controller** to a page and, in each widget, select that robot-arm node.
+
+**Freeze** is a soft stop in the UI. It is not a hardware emergency stop. See [Safety](#safety).
+
+## Use it from a flow
+
+Drop a **robot-arm** node on a tab and deploy. Anything you send to its input becomes the next joint command, and the output is the joint state after that command.
+
+The node status shows a 3D view path, `/robot-arm/view/<robot-node-id>`. Open that on the Node-RED host to see the arm without Dashboard 2.
+
+A separate **robot-arm-controller** node is the same pendant on its own page. Wire **robot-arm-controller → robot-arm**, deploy, and open the controller URL shown on that node (`/robot-arm/controller/<id>`). Example **02** is this wiring.
+
+## Examples
+
+After the package is installed, the examples are in the editor:
+
+**Menu → Import → Examples → @tteja/node-red-dashboard-2-robot-arm**
+
+Import one, then deploy.
+
+| Example | What to do with it |
+|---------|-------------------|
+| **01 Inject demo** | Three Inject nodes: Home, Reach, and Wave. Click one and the arm moves. A debug node shows the joint state coming out of **robot-arm**. |
+| **02 Controller to robot** | Pendant wired into the arm. Open the controller URL on the **robot-arm-controller** node and move the sliders. |
+| **03 Rosbridge live** | **robot-arm** with rosbridge turned on, subscribed to `/joint_states`. Use this when a ROS 2 robot or simulator is publishing joint states. |
+| **04 Controller and ROS 2** | Pendant and rosbridge together. While the pendant is armed, its commands win for about 2 seconds over incoming `/joint_states`. Disarm the pendant to let ROS drive the view. |
+| **05 Dashboard 2** | A Dashboard page named **Robot Arm** with the 3D view and the pendant bound to one **robot-arm** node. Start here if you want the arm on a dashboard. |
+
+## Messages
+
+Send any of these on the **robot-arm** input. The output is always the canonical object below.
+
+Canonical command and state:
+
+```json
+{
+  "robot": "robot",
+  "joints": {
+    "shoulder_pan_joint": 0,
+    "shoulder_lift_joint": -1.57,
+    "elbow_joint": 1.57,
+    "wrist_1_joint": -1.57,
+    "wrist_2_joint": -1.57,
+    "wrist_3_joint": 0
+  },
+  "unit": "rad",
+  "source": "pendant",
+  "ts": 1710000000000
+}
+```
+
+Also accepted: a ROS `JointState` style `{ "name": [...], "position": [...] }`, a flat map of joint name to number, or an array of numbers in the joint order above.
+
+### Why slider limits are 6.28 and 3.14
+
+The pendant uses **radians**. A full circle is 2 × π ≈ **6.2832 rad = 360°**. Half a circle is π ≈ **3.1416 rad = 180°**.
+
+| Joints | Slider range | Meaning |
+|--------|----------------|---------|
+| Base, Shoulder, Wrist 1, Wrist 2, Wrist 3 | −6.2832 … 6.2832 | One full turn either side of zero (±360°) |
+| Elbow | −3.1416 … 3.1416 | Half a turn either side of zero (±180°) |
+
+These are the UR5e joint limits from the model, not an arbitrary slider size. **Home** on the pendant returns each joint to its home angle (straight-up style pose: shoulder −1.57 rad, elbow 1.57 rad, and so on). The number beside each slider is the current angle in radians.
+
+## ROS 2
+
+Optional. On the robot PC or simulator:
+
+```bash
+ros2 launch rosbridge_server rosbridge_websocket_launch.xml
+```
+
+On the **robot-arm** node, enable rosbridge and set:
+
+- URL: `ws://<robot-pc>:9090`
+- Subscribe topic: `/joint_states` (`sensor_msgs/JointState`)
+- Publish topic: optional. When set, commands leaving this node are published there.
+
+This node talks to rosbridge over WebSocket. It does not speak DDS itself. Nothing moves unless something publishes `/joint_states` or you send a command from the pendant or a flow.
+
+When the pendant is armed, its updates are preferred over rosbridge for about 2 seconds. After that, the latest message wins.
+
+## Safety
+
+**Not SIL-rated.** This is a viewer and a soft teach pendant. **Freeze** only stops commands inside this UI. Do not use it as the emergency stop or safety controller for a real arm.
+
+## License
+
+MIT © 2026 Teja.
+
+The UR5e meshes are BSD-3-Clause, Copyright Universal Robots A/S, from [UniversalRobots/Universal_Robots_ROS2_Description](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description). See `models/ur5e/LICENSE`. The gripper in the `ur5e-gripper` preset is a simple box model, not a Robotiq CAD model.

package/docs/ARCHITECTURE.md

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+# Architecture
+
+## Palette nodes
+
+1. **`robot-arm`** — arm model, normalize, rosbridge, HTTP view + pendant API  
+2. **`robot-arm-controller`** — standalone teach pendant (HTTP) for non-Dashboard flows  
+3. **`ui-ur5e-arm`** — Dashboard 2 3D view (iframe of `/robot-arm/view/:id`)  
+4. **`ui-ur5e-controller`** — Dashboard 2 pendant (iframe of `/robot-arm/pendant/:id`)
+
+npm package name is `@tteja/node-red-dashboard-2-robot-arm`. The scope satisfies the Flow Library naming rule for packages published after 2021, and the name still contains `node-red-dashboard-2-` so an existing Dashboard 2 install discovers the widgets. The GitHub repo stays `t-teja/node-red-contrib-robot-arm`.
+
+## Data flow
+
+```
+ Function / Inject / rosbridge
+            │
+            ▼
+     ┌──────────────┐     SSE/HTTP      ┌─────────────┐
+     │  robot-arm   │──────────────────▶│  viewer.js  │
+     │ RobotRuntime │                   │  URDF+STL   │
+     │ RosbridgeClient                  └─────────────┘
+     └──────▲───────┘
+            │ POST /api/:id/joints
+     ┌──────┴───────┐                   ┌─────────────┐
+     │   pendant    │                   │ D2 widgets  │
+     │  (or ctrl)   │                   │  (iframes)  │
+     └──────────────┘                   └─────────────┘
+```
+
+## Models
+
+- `models/ur5e/` — UR5e URDF + `meshes/*.stl` (BSD-3-Clause)  
+- `models/ur5e-gripper/` — same meshes + primitive gripper on `tool0`
+
+HTTP serves nested paths: `/robot-arm/models/:preset/*` (e.g. `meshes/base.stl`).
+
+## Libraries
+
+| File | Role |
+|------|------|
+| `lib/normalize.js` | Payload → canonical joints |
+| `lib/rosbridge.js` | WS client: subscribe / advertise / publish |
+| `lib/robot-runtime.js` | State + applyCommand + publish hook (unit-tested) |
+
+## Dashboard 2
+
+Built UMD: `resources/robot-arm-widgets.umd.js` (committed). Widgets bind to a `robot-arm` node id via config dropdown.
+
+## Safety
+
+NOT SIL. Soft UI freeze only.

package/examples/01-inject-demo.json

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+[
+  {
+    "id": "flow01",
+    "type": "tab",
+    "label": "01 Inject demo",
+    "disabled": false,
+    "info": "Inject Home / Reach / Wave into robot node"
+  },
+  {
+    "id": "robot01",
+    "type": "robot-arm",
+    "z": "flow01",
+    "name": "arm",
+    "robotTag": "robot",
+    "modelPreset": "ur5e",
+    "urdfPath": "",
+    "unit": "rad",
+    "rosbridgeEnable": false,
+    "rosbridgeUrl": "ws://localhost:9090",
+    "jointStatesTopic": "/joint_states",
+    "publishTopic": "",
+    "x": 520,
+    "y": 200,
+    "wires": [
+      [
+        "debug01"
+      ]
+    ]
+  },
+  {
+    "id": "debug01",
+    "type": "debug",
+    "z": "flow01",
+    "name": "joints out",
+    "active": true,
+    "tosidebar": true,
+    "console": false,
+    "tostatus": false,
+    "complete": "payload",
+    "x": 720,
+    "y": 200,
+    "wires": []
+  },
+  {
+    "id": "inj_home",
+    "type": "inject",
+    "z": "flow01",
+    "name": "Home",
+    "props": [
+      {
+        "p": "payload"
+      },
+      {
+        "p": "topic",
+        "vt": "str"
+      }
+    ],
+    "repeat": "",
+    "crontab": "",
+    "once": false,
+    "onceDelay": 0.1,
+    "topic": "home",
+    "payload": "{\"joints\":{\"shoulder_pan_joint\":0,\"shoulder_lift_joint\":-1.57,\"elbow_joint\":1.57,\"wrist_1_joint\":-1.57,\"wrist_2_joint\":-1.57,\"wrist_3_joint\":0},\"unit\":\"rad\",\"source\":\"inject\"}",
+    "payloadType": "json",
+    "x": 200,
+    "y": 120,
+    "wires": [
+      [
+        "robot01"
+      ]
+    ]
+  },
+  {
+    "id": "inj_reach",
+    "type": "inject",
+    "z": "flow01",
+    "name": "Reach",
+    "props": [
+      {
+        "p": "payload"
+      }
+    ],
+    "repeat": "",
+    "crontab": "",
+    "once": false,
+    "onceDelay": 0.1,
+    "topic": "",
+    "payload": "{\"joints\":{\"shoulder_pan_joint\":0.5,\"shoulder_lift_joint\":-1.0,\"elbow_joint\":1.2,\"wrist_1_joint\":-1.4,\"wrist_2_joint\":-1.57,\"wrist_3_joint\":0.3},\"unit\":\"rad\",\"source\":\"inject\"}",
+    "payloadType": "json",
+    "x": 200,
+    "y": 200,
+    "wires": [
+      [
+        "robot01"
+      ]
+    ]
+  },
+  {
+    "id": "inj_wave",
+    "type": "inject",
+    "z": "flow01",
+    "name": "Wave",
+    "props": [
+      {
+        "p": "payload"
+      }
+    ],
+    "repeat": "",
+    "crontab": "",
+    "once": false,
+    "onceDelay": 0.1,
+    "topic": "",
+    "payload": "{\"joints\":{\"shoulder_pan_joint\":-0.6,\"shoulder_lift_joint\":-1.2,\"elbow_joint\":1.4,\"wrist_1_joint\":-1.2,\"wrist_2_joint\":-0.8,\"wrist_3_joint\":1.0},\"unit\":\"rad\",\"source\":\"inject\"}",
+    "payloadType": "json",
+    "x": 200,
+    "y": 280,
+    "wires": [
+      [
+        "robot01"
+      ]
+    ]
+  },
+  {
+    "id": "comment01",
+    "type": "comment",
+    "z": "flow01",
+    "name": "After deploy: open node status URL /robot-arm/view/<robot-node-id>",
+    "info": "Click Home / Reach / Wave. 3D view updates via SSE.",
+    "x": 340,
+    "y": 60,
+    "wires": []
+  }
+]

package/examples/02-controller-to-robot.json

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+[
+  {
+    "id": "flow02",
+    "type": "tab",
+    "label": "02 Controller \u2192 robot",
+    "disabled": false,
+    "info": "Teach pendant wired to robot"
+  },
+  {
+    "id": "ctrl02",
+    "type": "robot-arm-controller",
+    "z": "flow02",
+    "name": "pendant",
+    "robotTag": "robot",
+    "modelPreset": "ur5e",
+    "jointList": "",
+    "unit": "rad",
+    "stepSize": 0.01,
+    "x": 240,
+    "y": 180,
+    "wires": [
+      [
+        "robot02"
+      ]
+    ]
+  },
+  {
+    "id": "robot02",
+    "type": "robot-arm",
+    "z": "flow02",
+    "name": "arm",
+    "robotTag": "robot",
+    "modelPreset": "ur5e",
+    "urdfPath": "",
+    "unit": "rad",
+    "rosbridgeEnable": false,
+    "rosbridgeUrl": "ws://localhost:9090",
+    "jointStatesTopic": "/joint_states",
+    "publishTopic": "",
+    "x": 460,
+    "y": 180,
+    "wires": [
+      [
+        "debug02"
+      ]
+    ]
+  },
+  {
+    "id": "debug02",
+    "type": "debug",
+    "z": "flow02",
+    "name": "out",
+    "active": true,
+    "tosidebar": true,
+    "console": false,
+    "tostatus": false,
+    "complete": "payload",
+    "x": 650,
+    "y": 180,
+    "wires": []
+  },
+  {
+    "id": "comment02",
+    "type": "comment",
+    "z": "flow02",
+    "name": "Open /robot-arm/controller/<ctrl-id> and /robot-arm/view/<robot-id>",
+    "info": "Wire: controller \u2192 robot. Use sliders, Home, Freeze, Arm/Disarm.",
+    "x": 360,
+    "y": 80,
+    "wires": []
+  }
+]

package/examples/03-rosbridge-live.json

@@ -0,0 +1,54 @@
+[
+  {
+    "id": "flow03",
+    "type": "tab",
+    "label": "03 Rosbridge live",
+    "disabled": false,
+    "info": "Robot node with rosbridge enabled. Topic: /joint_states (sensor_msgs/JointState)"
+  },
+  {
+    "id": "robot03",
+    "type": "robot-arm",
+    "z": "flow03",
+    "name": "arm-ros",
+    "robotTag": "robot",
+    "modelPreset": "ur5e",
+    "urdfPath": "",
+    "unit": "rad",
+    "rosbridgeEnable": true,
+    "rosbridgeUrl": "ws://localhost:9090",
+    "jointStatesTopic": "/joint_states",
+    "publishTopic": "",
+    "x": 400,
+    "y": 180,
+    "wires": [
+      [
+        "debug03"
+      ]
+    ]
+  },
+  {
+    "id": "debug03",
+    "type": "debug",
+    "z": "flow03",
+    "name": "from ros",
+    "active": true,
+    "tosidebar": true,
+    "console": false,
+    "tostatus": false,
+    "complete": "true",
+    "x": 600,
+    "y": 180,
+    "wires": []
+  },
+  {
+    "id": "comment03",
+    "type": "comment",
+    "z": "flow03",
+    "name": "On robot PC: ros2 launch rosbridge_server rosbridge_websocket_launch.xml",
+    "info": "Set rosbridge URL to ws://<robot-pc>:9090. Subscribes /joint_states. Status shows ros:connected when live.",
+    "x": 400,
+    "y": 80,
+    "wires": []
+  }
+]

package/examples/04-controller-and-ros2.json

@@ -0,0 +1,72 @@
+[
+  {
+    "id": "flow04",
+    "type": "tab",
+    "label": "04 Controller + ROS2",
+    "disabled": false,
+    "info": "Both pendant and rosbridge. Pendant+armed briefly preferred over rosbridge (P0 last-writer + source tag)."
+  },
+  {
+    "id": "ctrl04",
+    "type": "robot-arm-controller",
+    "z": "flow04",
+    "name": "pendant",
+    "robotTag": "robot",
+    "modelPreset": "ur5e",
+    "jointList": "",
+    "unit": "rad",
+    "stepSize": 0.01,
+    "x": 220,
+    "y": 160,
+    "wires": [
+      [
+        "robot04"
+      ]
+    ]
+  },
+  {
+    "id": "robot04",
+    "type": "robot-arm",
+    "z": "flow04",
+    "name": "arm",
+    "robotTag": "robot",
+    "modelPreset": "ur5e",
+    "urdfPath": "",
+    "unit": "rad",
+    "rosbridgeEnable": true,
+    "rosbridgeUrl": "ws://localhost:9090",
+    "jointStatesTopic": "/joint_states",
+    "publishTopic": "/joint_command",
+    "x": 440,
+    "y": 200,
+    "wires": [
+      [
+        "debug04"
+      ]
+    ]
+  },
+  {
+    "id": "debug04",
+    "type": "debug",
+    "z": "flow04",
+    "name": "merged",
+    "active": true,
+    "tosidebar": true,
+    "console": false,
+    "tostatus": false,
+    "complete": "payload",
+    "x": 640,
+    "y": 200,
+    "wires": []
+  },
+  {
+    "id": "comment04",
+    "type": "comment",
+    "z": "flow04",
+    "name": "Priority: pendant (source=pendant, manualArmed) wins for ~2s over rosbridge",
+    "info": "Disarm manual on pendant to let ROS2 JointState drive the view. Soft Freeze is UI-only.",
+    "x": 400,
+    "y": 80,
+    "wires": []
+  }
+]

package/examples/05-dashboard2.json

@@ -0,0 +1,143 @@
+[
+  {
+    "id": "flow05",
+    "type": "tab",
+    "label": "05 Dashboard 2",
+    "disabled": false,
+    "info": "ui-base / page / group + ui-ur5e-arm + ui-ur5e-controller bound to one robot-arm node"
+  },
+  {
+    "id": "ui_base_05",
+    "type": "ui-base",
+    "name": "Robot UI",
+    "path": "/dashboard",
+    "includeClientData": true,
+    "acceptsClientData": true,
+    "showPathInSidebar": false
+  },
+  {
+    "id": "ui_page_05",
+    "type": "ui-page",
+    "name": "Robot Arm",
+    "ui": "ui_base_05",
+    "path": "/robot",
+    "icon": "mdi-robot-industrial",
+    "layout": "grid",
+    "theme": "ui_theme_05",
+    "order": 1,
+    "className": "",
+    "visible": true,
+    "disabled": false
+  },
+  {
+    "id": "ui_theme_05",
+    "type": "ui-theme",
+    "name": "Default",
+    "colors": {
+      "surface": "#0f1419",
+      "primary": "#3D7EA6",
+      "bgPage": "#0b1016",
+      "groupBg": "#1a2332",
+      "groupOutline": "#2a3548"
+    }
+  },
+  {
+    "id": "ui_group_view_05",
+    "type": "ui-group",
+    "name": "3D View",
+    "page": "ui_page_05",
+    "width": 8,
+    "height": 1,
+    "order": 1,
+    "showTitle": true,
+    "className": "",
+    "visible": true,
+    "disabled": false
+  },
+  {
+    "id": "ui_group_ctrl_05",
+    "type": "ui-group",
+    "name": "Pendant",
+    "page": "ui_page_05",
+    "width": 4,
+    "height": 1,
+    "order": 2,
+    "showTitle": true,
+    "className": "",
+    "visible": true,
+    "disabled": false
+  },
+  {
+    "id": "robot05",
+    "type": "robot-arm",
+    "z": "flow05",
+    "name": "arm",
+    "robotTag": "robot",
+    "modelPreset": "ur5e",
+    "urdfPath": "",
+    "unit": "rad",
+    "rosbridgeEnable": false,
+    "rosbridgeUrl": "ws://localhost:9090",
+    "jointStatesTopic": "/joint_states",
+    "publishTopic": "",
+    "x": 320,
+    "y": 200,
+    "wires": [
+      [
+        "debug05"
+      ]
+    ]
+  },
+  {
+    "id": "debug05",
+    "type": "debug",
+    "z": "flow05",
+    "name": "joints",
+    "active": true,
+    "tosidebar": true,
+    "console": false,
+    "tostatus": false,
+    "complete": "payload",
+    "x": 500,
+    "y": 200,
+    "wires": []
+  },
+  {
+    "id": "ui_arm_05",
+    "type": "ui-ur5e-arm",
+    "z": "flow05",
+    "name": "view",
+    "group": "ui_group_view_05",
+    "order": 1,
+    "width": 8,
+    "height": 7,
+    "robot": "robot05",
+    "x": 320,
+    "y": 300,
+    "wires": []
+  },
+  {
+    "id": "ui_ctrl_05",
+    "type": "ui-ur5e-controller",
+    "z": "flow05",
+    "name": "pendant",
+    "group": "ui_group_ctrl_05",
+    "order": 1,
+    "width": 4,
+    "height": 7,
+    "robot": "robot05",
+    "x": 500,
+    "y": 300,
+    "wires": []
+  },
+  {
+    "id": "comment05",
+    "type": "comment",
+    "z": "flow05",
+    "name": "Requires @flowfuse/node-red-dashboard. Open Dashboard page Robot Arm \u2014 view + pendant share robot05.",
+    "info": "Both widgets bind to the same robot node. Standalone /robot-arm/view and /robot-arm/pendant still work.",
+    "x": 420,
+    "y": 80,
+    "wires": []
+  }
+]