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

package/models/ur5e/ur5e.urdf

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+<?xml version="1.0"?>
+<!--
+  UR5e for Electronics Playground (browser).
+  Joint origins: UniversalRobots/Universal_Robots_ROS2_Description default_kinematics.yaml
+  Mesh offsets: visual_parameters.yaml (official visual DAE to binary STL)
+  License: BSD-3-Clause. See LICENSE.
+-->
+<robot name="ur5e">
+  <material name="ur_grey"><color rgba="0.7 0.7 0.7 1"/></material>
+  <material name="ur_blue"><color rgba="0.25 0.45 0.7 1"/></material>
+
+  <link name="base_link"/>
+
+  <link name="base_link_inertia">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 3.141592653589793"/>
+      <geometry><mesh filename="meshes/base.stl"/></geometry>
+      <material name="ur_grey"/>
+    </visual>
+  </link>
+
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <origin xyz="0 0 0" rpy="0 0 3.141592653589793"/>
+  </joint>
+
+  <link name="shoulder_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 3.141592653589793"/>
+      <geometry><mesh filename="meshes/shoulder.stl"/></geometry>
+      <material name="ur_grey"/>
+    </visual>
+  </link>
+
+  <link name="upper_arm_link">
+    <visual>
+      <origin xyz="0 0 0.138" rpy="1.5707963267948966 0 -1.5707963267948966"/>
+      <geometry><mesh filename="meshes/upperarm.stl"/></geometry>
+      <material name="ur_blue"/>
+    </visual>
+  </link>
+
+  <link name="forearm_link">
+    <visual>
+      <origin xyz="0 0 0.007" rpy="1.5707963267948966 0 -1.5707963267948966"/>
+      <geometry><mesh filename="meshes/forearm.stl"/></geometry>
+      <material name="ur_blue"/>
+    </visual>
+  </link>
+
+  <link name="wrist_1_link">
+    <visual>
+      <origin xyz="0 0 -0.127" rpy="1.5707963267948966 0 0"/>
+      <geometry><mesh filename="meshes/wrist1.stl"/></geometry>
+      <material name="ur_grey"/>
+    </visual>
+  </link>
+
+  <link name="wrist_2_link">
+    <visual>
+      <origin xyz="0 0 -0.0997" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/wrist2.stl"/></geometry>
+      <material name="ur_grey"/>
+    </visual>
+  </link>
+
+  <link name="wrist_3_link">
+    <visual>
+      <origin xyz="0 -0.0005 -0.0989" rpy="1.5707963267948966 0 0"/>
+      <geometry><mesh filename="meshes/wrist3.stl"/></geometry>
+      <material name="ur_blue"/>
+    </visual>
+  </link>
+
+  <link name="flange"/>
+  <link name="tool0"/>
+
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin xyz="0 0 0.1625" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28318530718" upper="6.28318530718" effort="150" velocity="3.14"/>
+  </joint>
+
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin xyz="0 0 0" rpy="1.570796327 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28318530718" upper="6.28318530718" effort="150" velocity="3.14"/>
+  </joint>
+
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin xyz="-0.425 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.14159265359" upper="3.14159265359" effort="150" velocity="3.14"/>
+  </joint>
+
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin xyz="-0.3922 0 0.1333" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28318530718" upper="6.28318530718" effort="28" velocity="3.14"/>
+  </joint>
+
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin xyz="0 -0.0997 0" rpy="1.570796327 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28318530718" upper="6.28318530718" effort="28" velocity="3.14"/>
+  </joint>
+
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin xyz="0 0.0996 0" rpy="1.570796326589793 3.141592653589793 3.141592653589793"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28318530718" upper="6.28318530718" effort="28" velocity="3.14"/>
+  </joint>
+
+  <joint name="wrist_3_link-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin xyz="0 0 0" rpy="0 -1.5707963267948966 -1.5707963267948966"/>
+  </joint>
+
+  <joint name="flange-tool0" type="fixed">
+    <parent link="flange"/>
+    <child link="tool0"/>
+    <origin xyz="0 0 0" rpy="1.5707963267948966 0 1.5707963267948966"/>
+  </joint>
+</robot>

package/models/ur5e-gripper/LICENSE

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+Copyright (c) Universal Robots A/S and contributors.
+Source: UniversalRobots/Universal_Robots_ROS2_Description (rolling)
+        meshes/ur5e/collision/*.stl — converted to ASCII STL for GitHub Pages.
+
+BSD 3-Clause License
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Note: UR5e meshes are BSD-3-Clause. The separate "Graphical Documentation"
+terms that apply to UR20/UR30/etc. do NOT apply to UR5e.

package/models/ur5e-gripper/README-ur5e.md

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+# UR5e (vendored)
+
+Browser-ready URDF + **visual** binary STL meshes for the Electronics Playground 6-DoF arm lab.
+
+| Item | Value |
+|------|--------|
+| Model | Universal Robots UR5e |
+| Source | [UniversalRobots/Universal_Robots_ROS2_Description](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description) (rolling) |
+| License | **BSD-3-Clause** (see `LICENSE`) |
+| Meshes | Official **visual** DAE -> binary STL (thousands of tris/link; not collision proxies) |
+| Joints | `shoulder_pan_joint` ... `wrist_3_joint` (same names as ros2_control) |
+
+Regenerate locally: `npm run meshes` (needs `pip install trimesh pycollada numpy scipy fast_simplification`).
+
+Kinematics match `config/ur5e/default_kinematics.yaml`. Visual offsets match `config/ur5e/visual_parameters.yaml`.

package/models/ur5e-gripper/README.md

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+# UR5e + simple gripper
+
+Vendored **UR5e** visual STL meshes (BSD-3-Clause, Universal Robots) plus a **primitive** 2-finger gripper fixed on `tool0`.
+
+- Arm meshes / kinematics: see `LICENSE` and `README-ur5e.md` (from UniversalRobots/Universal_Robots_ROS2_Description).
+- Gripper geometry is approximate (box primitives) for teach-pendant demos only — not a Robotiq CAD model.

package/models/ur5e-gripper/joints.json

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+{
+  "name": "ur5e-gripper",
+  "urdf": "ur5e_gripper.urdf",
+  "joints": [
+    { "name": "shoulder_pan_joint", "label": "Base", "min": -6.2832, "max": 6.2832, "home": 0 },
+    { "name": "shoulder_lift_joint", "label": "Shoulder", "min": -6.2832, "max": 6.2832, "home": -1.57 },
+    { "name": "elbow_joint", "label": "Elbow", "min": -3.1416, "max": 3.1416, "home": 1.57 },
+    { "name": "wrist_1_joint", "label": "Wrist 1", "min": -6.2832, "max": 6.2832, "home": -1.57 },
+    { "name": "wrist_2_joint", "label": "Wrist 2", "min": -6.2832, "max": 6.2832, "home": -1.57 },
+    { "name": "wrist_3_joint", "label": "Wrist 3", "min": -6.2832, "max": 6.2832, "home": 0 },
+    { "name": "finger_joint", "label": "Gripper", "min": 0, "max": 0.04, "home": 0, "unit": "m" }
+  ]
+}

package/models/ur5e-gripper/ur5e_gripper.urdf

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+<?xml version="1.0"?>
+<!--
+  UR5e for Electronics Playground (browser).
+  Joint origins: UniversalRobots/Universal_Robots_ROS2_Description default_kinematics.yaml
+  Mesh offsets: visual_parameters.yaml (official visual DAE to binary STL)
+  License: BSD-3-Clause. See LICENSE.
+-->
+<robot name="ur5e_gripper">
+  <material name="ur_grey"><color rgba="0.7 0.7 0.7 1"/></material>
+  <material name="ur_blue"><color rgba="0.25 0.45 0.7 1"/></material>
+
+  <link name="base_link"/>
+
+  <link name="base_link_inertia">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 3.141592653589793"/>
+      <geometry><mesh filename="meshes/base.stl"/></geometry>
+      <material name="ur_grey"/>
+    </visual>
+  </link>
+
+  <joint name="base_link-base_link_inertia" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_link_inertia"/>
+    <origin xyz="0 0 0" rpy="0 0 3.141592653589793"/>
+  </joint>
+
+  <link name="shoulder_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 3.141592653589793"/>
+      <geometry><mesh filename="meshes/shoulder.stl"/></geometry>
+      <material name="ur_grey"/>
+    </visual>
+  </link>
+
+  <link name="upper_arm_link">
+    <visual>
+      <origin xyz="0 0 0.138" rpy="1.5707963267948966 0 -1.5707963267948966"/>
+      <geometry><mesh filename="meshes/upperarm.stl"/></geometry>
+      <material name="ur_blue"/>
+    </visual>
+  </link>
+
+  <link name="forearm_link">
+    <visual>
+      <origin xyz="0 0 0.007" rpy="1.5707963267948966 0 -1.5707963267948966"/>
+      <geometry><mesh filename="meshes/forearm.stl"/></geometry>
+      <material name="ur_blue"/>
+    </visual>
+  </link>
+
+  <link name="wrist_1_link">
+    <visual>
+      <origin xyz="0 0 -0.127" rpy="1.5707963267948966 0 0"/>
+      <geometry><mesh filename="meshes/wrist1.stl"/></geometry>
+      <material name="ur_grey"/>
+    </visual>
+  </link>
+
+  <link name="wrist_2_link">
+    <visual>
+      <origin xyz="0 0 -0.0997" rpy="0 0 0"/>
+      <geometry><mesh filename="meshes/wrist2.stl"/></geometry>
+      <material name="ur_grey"/>
+    </visual>
+  </link>
+
+  <link name="wrist_3_link">
+    <visual>
+      <origin xyz="0 -0.0005 -0.0989" rpy="1.5707963267948966 0 0"/>
+      <geometry><mesh filename="meshes/wrist3.stl"/></geometry>
+      <material name="ur_blue"/>
+    </visual>
+  </link>
+
+  <link name="flange"/>
+  <link name="tool0"/>
+
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link_inertia"/>
+    <child link="shoulder_link"/>
+    <origin xyz="0 0 0.1625" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28318530718" upper="6.28318530718" effort="150" velocity="3.14"/>
+  </joint>
+
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin xyz="0 0 0" rpy="1.570796327 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28318530718" upper="6.28318530718" effort="150" velocity="3.14"/>
+  </joint>
+
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin xyz="-0.425 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.14159265359" upper="3.14159265359" effort="150" velocity="3.14"/>
+  </joint>
+
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin xyz="-0.3922 0 0.1333" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28318530718" upper="6.28318530718" effort="28" velocity="3.14"/>
+  </joint>
+
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin xyz="0 -0.0997 0" rpy="1.570796327 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28318530718" upper="6.28318530718" effort="28" velocity="3.14"/>
+  </joint>
+
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin xyz="0 0.0996 0" rpy="1.570796326589793 3.141592653589793 3.141592653589793"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28318530718" upper="6.28318530718" effort="28" velocity="3.14"/>
+  </joint>
+
+  <joint name="wrist_3_link-flange" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="flange"/>
+    <origin xyz="0 0 0" rpy="0 -1.5707963267948966 -1.5707963267948966"/>
+  </joint>
+
+  <joint name="flange-tool0" type="fixed">
+    <parent link="flange"/>
+    <child link="tool0"/>
+    <origin xyz="0 0 0" rpy="1.5707963267948966 0 1.5707963267948966"/>
+  </joint>
+
+  <!-- Simple flange-mounted 2-finger gripper (primitives, origins on tool0) -->
+  <link name="gripper_base_link">
+    <visual>
+      <origin xyz="0 0 0.025" rpy="0 0 0"/>
+      <geometry><box size="0.08 0.08 0.05"/></geometry>
+      <material name="gripper_black"><color rgba="0.12 0.12 0.12 1"/></material>
+    </visual>
+  </link>
+  <link name="finger_left_link">
+    <visual>
+      <origin xyz="0 0.01 0.03" rpy="0 0 0"/>
+      <geometry><box size="0.015 0.02 0.06"/></geometry>
+      <material name="finger"><color rgba="0.85 0.65 0.15 1"/></material>
+    </visual>
+  </link>
+  <link name="finger_right_link">
+    <visual>
+      <origin xyz="0 -0.01 0.03" rpy="0 0 0"/>
+      <geometry><box size="0.015 0.02 0.06"/></geometry>
+      <material name="finger2"><color rgba="0.85 0.65 0.15 1"/></material>
+    </visual>
+  </link>
+
+  <joint name="gripper_fixed" type="fixed">
+    <parent link="tool0"/>
+    <child link="gripper_base_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <joint name="finger_joint" type="prismatic">
+    <parent link="gripper_base_link"/>
+    <child link="finger_left_link"/>
+    <origin xyz="0 0.02 0.05" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="0.0" upper="0.04" effort="20" velocity="0.1"/>
+  </joint>
+  <joint name="finger_joint_right" type="prismatic">
+    <parent link="gripper_base_link"/>
+    <child link="finger_right_link"/>
+    <origin xyz="0 -0.02 0.05" rpy="0 0 0"/>
+    <axis xyz="0 -1 0"/>
+    <limit lower="0.0" upper="0.04" effort="20" velocity="0.1"/>
+  </joint>
+
+</robot>

package/nodes/controller.html

@@ -0,0 +1,76 @@
+<script type="text/javascript">
+  RED.nodes.registerType('robot-arm-controller', {
+    category: 'robotics',
+    color: '#5B8C5A',
+    defaults: {
+      name: { value: '' },
+      robotTag: { value: 'robot' },
+      modelPreset: { value: 'ur5e' },
+      jointList: { value: '' },
+      unit: { value: 'rad' },
+      stepSize: { value: 0.01 }
+    },
+    inputs: 1,
+    outputs: 1,
+    icon: 'font-awesome/fa-sliders',
+    label: function () {
+      return this.name || 'robot-arm-controller';
+    },
+    labelStyle: function () {
+      return this.name ? 'node_label_italic' : '';
+    },
+    paletteLabel: 'robot-arm-controller'
+  });
+</script>
+
+<script type="text/html" data-template-name="robot-arm-controller">
+  <div class="form-row">
+    <label for="node-input-name"><i class="fa fa-tag"></i> Name</label>
+    <input type="text" id="node-input-name" placeholder="Name">
+  </div>
+  <div class="form-row">
+    <label for="node-input-robotTag"><i class="fa fa-robot"></i> Robot tag</label>
+    <input type="text" id="node-input-robotTag" placeholder="robot">
+  </div>
+  <div class="form-row">
+    <label for="node-input-modelPreset"><i class="fa fa-cube"></i> Preset</label>
+    <select id="node-input-modelPreset">
+      <option value="ur5e">UR5e (STL meshes)</option>
+      <option value="ur5e-gripper">UR5e + simple gripper</option>
+    </select>
+  </div>
+  <div class="form-row">
+    <label for="node-input-jointList"><i class="fa fa-list"></i> Joints</label>
+    <input type="text" id="node-input-jointList" placeholder="blank = inherit from preset">
+  </div>
+  <div class="form-row">
+    <label for="node-input-unit"><i class="fa fa-ruler"></i> Unit</label>
+    <select id="node-input-unit">
+      <option value="rad">radians</option>
+      <option value="deg">degrees</option>
+    </select>
+  </div>
+  <div class="form-row">
+    <label for="node-input-stepSize"><i class="fa fa-arrows-h"></i> Step</label>
+    <input type="number" id="node-input-stepSize" step="any" placeholder="0.01">
+  </div>
+  <div class="form-tips">
+    After deploy, open the teach pendant at the URL on the node status
+    (<code>/robot-arm/controller/&lt;node-id&gt;</code>). Wire output → <b>robot-arm</b> input.
+  </div>
+</script>
+
+<script type="text/html" data-help-name="robot-arm-controller">
+  <p>Teach-pendant controller: joint sliders, Home, Freeze (soft e-stop), Arm/Disarm manual. Outputs canonical joint commands for the <b>robot-arm</b> node.</p>
+  <h3>Outputs</h3>
+  <dl class="message-properties">
+    <dt>payload <span class="property-type">object</span></dt>
+    <dd><code>{ robot, joints, unit, source: "pendant", manualArmed, freeze, ts }</code></dd>
+  </dl>
+  <h3>UI</h3>
+  <p>HTTP page at <code>/robot-arm/controller/&lt;id&gt;</code>. Rate-limited slider emits (~20 Hz).</p>
+  <h3>Safety</h3>
+  <p>Freeze is a <b>soft UI stop</b> only — not a safety-rated e-stop. NOT SIL.</p>
+  <h3>More</h3>
+  <p><a href="https://github.com/t-teja/node-red-contrib-robot-arm#readme" target="_blank">Usage guide on GitHub</a></p>
+</script>