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添加机械臂和移液站

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zhangshixiang
2025-07-19 16:09:56 +08:00
parent ae712e35ab
commit 9f652fa78a
150 changed files with 9911 additions and 652 deletions
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43
unilabos/device_mesh/devices/elite_robot/config/cs612/default_kinematics.yaml Normal file
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kinematics:
shoulder:
x: 0
y: 0
z: 0.1930
roll: 0
pitch: 0
yaw: 0
upperarm:
x: 0
y: 0
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
forearm:
x: -0.6150
y: 0
z: 0
roll: 0
pitch: 0
yaw: 0
wrist_1:
x: -0.5710
y: 0
z: 0.1775
roll: 0
pitch: 0
yaw: 0
wrist_2:
x: 0
y: -0.1180
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
wrist_3:
x: 0
y: 0.1103
z: 0
roll: -1.570796326589793
pitch: 0
yaw: 0

61
unilabos/device_mesh/devices/elite_robot/config/cs612/joint_limits.yaml Normal file
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joint_limits:
shoulder_pan_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 330.0
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
shoulder_lift_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 330.0
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 150.0
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
wrist_1_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_2_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_3_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0

99
unilabos/device_mesh/devices/elite_robot/config/cs612/physical_parameters.yaml Normal file
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# Physical parameters
dh_parameters:
d1: 0.1930
a2: -0.6150
a3: -0.5710
d4: 0.1775
d5: 0.1180
d6: 0.1103
inertia_parameters:
base_mass: 0.94888 # base mass, base inertia, base cog might be incorrect
shoulder_mass: 6.83
upperarm_mass: 13.037
forearm_mass: 4.827
wrist_1_mass: 2.315
wrist_2_mass: 2.195
wrist_3_mass: 0.616
inertia:
base:
ixx: 0.0029607
ixy: -1.019E-06
ixz: 5.2685E-06
iyy: 0.0026222
iyz: -2.8951E-06
izz: 0.0039906
shoulder:
ixx: 0.039228
ixy: -2.8388E-05
ixz: 3.9289E-05
iyy: 0.025078
iyz: -0.00028825
izz: 0.037499
upperarm:
ixx: 0.3734
ixy: -5.985E-05
ixz: -0.5014
iyy: 2.0187
iyz: -0.00013287
izz: 1.681
forearm:
ixx: 0.030106
ixy: -1.25E-05
ixz: -0.076554
iyy: 0.76404
iyz: 1.326E-06
izz: 0.7421
wrist_1:
ixx: 0.0060891
ixy: 1.219E-06
ixz: -4.067E-06
iyy: 0.0049703
iyz: -1.2747E-05
izz: 0.0033067
wrist_2:
ixx: 0.004638045
ixy: 1.311E-06
ixz: 3.829E-06
iyy: 0.003507337
iyz: 1.4183E-05
izz: 0.003129668
wrist_3:
ixx: 0.0016942
ixy: 1.27E-07
ixz: 1.9782E-05
iyy: 0.0017123
iyz: 7.7E-06
izz: 0.0005701
center_of_mass:
base_cog:
x: 5.6715E-05
y: -0.00010524
z: 0.065979
shoulder_cog:
x: 9.3E-05
y: -0.02697
z: -0.02115
upperarm_cog:
x: -0.2304
y: -3.9E-05
z: 0.16068
forearm_cog:
x: -0.2998
y: 1.3E-05
z: 0.06176
wrist_1_cog:
x: 1.0E-05
y: -0.0148
z: -0.01682
wrist_2_cog:
x: -1.3E-05
y: 0.015559
z: -0.011803
wrist_3_cog:
x: -0.001704
y: -0.000705
z: -0.039231

92
unilabos/device_mesh/devices/elite_robot/config/cs612/visual_parameters.yaml Normal file
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mesh_files:
base:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/visual/base.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/collision/base.stl
shoulder:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/visual/shoulder.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/collision/shoulder.stl
upperarm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/visual/upperarm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/collision/upperarm.stl
mesh_files:
forearm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/visual/forearm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/collision/forearm.stl
wrist_1:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/visual/wrist1.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/collision/wrist1.stl
wrist_2:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/visual/wrist2.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/collision/wrist2.stl
wrist_3:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/visual/wrist3.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs612/collision/wrist3.stl

43
unilabos/device_mesh/devices/elite_robot/config/cs616/default_kinematics.yaml Normal file
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kinematics:
shoulder:
x: 0
y: 0
z: 0.1930
roll: 0
pitch: 0
yaw: 0
upperarm:
x: 0
y: 0
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
forearm:
x: -0.5520
y: 0
z: 0
roll: 0
pitch: 0
yaw: 0
wrist_1:
x: -0.4300
y: 0
z: 0.1775
roll: 0
pitch: 0
yaw: 0
wrist_2:
x: 0
y: -0.1180
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
wrist_3:
x: 0
y: 0.1103
z: 0
roll: -1.570796326589793
pitch: 0
yaw: 0

61
unilabos/device_mesh/devices/elite_robot/config/cs616/joint_limits.yaml Normal file
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joint_limits:
shoulder_pan_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 330.0
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
shoulder_lift_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 330.0
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 150.0
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
wrist_1_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_2_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_3_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0

99
unilabos/device_mesh/devices/elite_robot/config/cs616/physical_parameters.yaml Normal file
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# Physical parameters
dh_parameters:
d1: 0.1930
a2: -0.5520
a3: -0.4300
d4: 0.1775
d5: 0.1180
d6: 0.1103
inertia_parameters:
base_mass: 0.94888 # base mass, base inertia, base cog might be incorrect
shoulder_mass: 6.83
upperarm_mass: 13.00
forearm_mass: 4.700
wrist_1_mass: 2.315
wrist_2_mass: 2.195
wrist_3_mass: 0.616
inertia:
base:
ixx: 0.0029607
ixy: -1.019E-06
ixz: 5.2685E-06
iyy: 0.0026222
iyz: -2.8951E-06
izz: 0.0039906
shoulder:
ixx: 0.039229834
ixy: -2.8388E-05
ixz: 3.9289E-05
iyy: 0.025077817
iyz: -0.000288247
izz: 0.03749924
upperarm:
ixx: 0.373432462
ixy: -5.5512E-05
ixz: -0.451785393
iyy: 1.696418762
iyz: -0.000133438
izz: 1.358657204
forearm:
ixx: 0.030213183
ixy: -8.368E-06
ixz: -0.056600087
iyy: 0.434775735
iyz: 1.585E-06
izz: 0.412836422
wrist_1:
ixx: 0.006091086
ixy: 1.256E-06
ixz: -4.067E-06
iyy: 0.004972529
iyz: -1.2709E-05
izz: 0.003307235
wrist_2:
ixx: 0.004639166
ixy: 1.311E-06
ixz: 3.829E-06
iyy: 0.003508643
iyz: 1.4183E-05
izz: 0.003130199
wrist_3:
ixx: 0.001695059
ixy: 1.27E-07
ixz: 1.9782E-05
iyy: 0.001713327
iyz: 7.7E-06
izz: 0.000570629
center_of_mass:
base_cog:
x: 5.6715E-05
y: -0.00010524
z: 0.065979
shoulder_cog:
x: 9.3E-05
y: -0.02697
z: -0.02115
upperarm_cog:
x: -0.2069
y: -4.4E-05
z: 0.16068
forearm_cog:
x: -0.2303
y: 1.5E-05
z: 0.06220
wrist_1_cog:
x: 1.0E-05
y: -0.0148
z: -0.01682
wrist_2_cog:
x: -1.3E-05
y: 0.015559
z: -0.011803
wrist_3_cog:
x: -0.001704
y: -0.000705
z: -0.039231

92
unilabos/device_mesh/devices/elite_robot/config/cs616/visual_parameters.yaml Normal file
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mesh_files:
base:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/visual/base.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/collision/base.stl
shoulder:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/visual/shoulder.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/collision/shoulder.stl
upperarm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/visual/upperarm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/collision/upperarm.stl
mesh_files:
forearm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/visual/forearm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/collision/forearm.stl
wrist_1:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/visual/wrist1.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/collision/wrist1.stl
wrist_2:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/visual/wrist2.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/collision/wrist2.stl
wrist_3:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/visual/wrist3.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs616/collision/wrist3.stl

43
unilabos/device_mesh/devices/elite_robot/config/cs620/default_kinematics.yaml Normal file
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kinematics:
shoulder:
x: 0
y: 0
z: 0.2350
roll: 0
pitch: 0
yaw: 0
upperarm:
x: 0
y: 0
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
forearm:
x: -0.9000
y: 0
z: 0
roll: 0
pitch: 0
yaw: 0
wrist_1:
x: -0.7720
y: 0
z: 0.1725
roll: 0
pitch: 0
yaw: 0
wrist_2:
x: 0
y: -0.1280
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
wrist_3:
x: 0
y: 0.1250
z: 0
roll: -1.570796326589793
pitch: 0
yaw: 0

61
unilabos/device_mesh/devices/elite_robot/config/cs620/joint_limits.yaml Normal file
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joint_limits:
shoulder_pan_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 730.0
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
shoulder_lift_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 730.0
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 430.0
max_position: !degrees 180.0
max_velocity: !degrees 150.0
min_position: !degrees -180.0
wrist_1_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 100.0
max_position: !degrees 360.0
max_velocity: !degrees 210.0
min_position: !degrees -360.0
wrist_2_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 100.0
max_position: !degrees 360.0
max_velocity: !degrees 210.0
min_position: !degrees -360.0
wrist_3_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 100.0
max_position: !degrees 360.0
max_velocity: !degrees 210.0
min_position: !degrees -360.0

99
unilabos/device_mesh/devices/elite_robot/config/cs620/physical_parameters.yaml Normal file
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# Physical parameters
dh_parameters:
d1: 0.2350
a2: -0.9000
a3: -0.7720
d4: 0.1725
d5: 0.1280
d6: 0.1250
inertia_parameters:
base_mass: 1.5056 # base mass, base inertia, base cog might be incorrect
shoulder_mass: 17.04
upperarm_mass: 26.927
forearm_mass: 8.386
wrist_1_mass: 3.095
wrist_2_mass: 3.095
wrist_3_mass: 0.879
inertia:
base:
ixx: 0.0067829
ixy: 2.6762E-07
ixz: -2.569E-06
iyy: 0.0068523
iyz: 9.4263E-05
izz: 0.010044
shoulder:
ixx: 0.130294671
ixy: -8.271E-05
ixz: 0.000106701
iyy: 0.085215288
iyz: -0.000663345
izz: 0.113859158
upperarm:
ixx: 1.204318595
ixy: -0.000466936
ixz: -1.78878432
iyy: 8.073725654
iyz: -0.000305158
izz: 6.980457042
forearm:
ixx: 0.070042956
ixy: 9.0183E-05
ixz: -0.165661846
iyy: 2.160436707
iyz: 1.3854E-05
izz: 2.109199584
wrist_1:
ixx: 0.007958413
ixy: -3.024E-06
ixz: -5.734E-06
iyy: 0.006686348
iyz: -1.766E-05
izz: 0.004840671
wrist_2:
ixx: 0.007958413
ixy: -3.024E-06
ixz: 5.734E-06
iyy: 0.006686348
iyz: 1.766E-05
izz: 0.004840671
wrist_3:
ixx: 0.004065851
ixy: 1.5185E-05
ixz: -1.1453E-05
iyy: 0.004060372
iyz: 4.2152E-05
izz: 0.001170392
center_of_mass:
base_cog:
x: -2.4009E-05
y: 0.0011775
z: 0.076293
shoulder_cog:
x: 9.9E-05
y: -0.026311
z: -0.026723
upperarm_cog:
x: -0.323686
y: -3.9E-05
z: 0.200968
forearm_cog:
x: -0.376841
y: 1.5E-05
z: 0.070311
wrist_1_cog:
x: -3.7E-05
y: -0.01051
z: -0.014865
wrist_2_cog:
x: 3.7E-05
y: 0.01051
z: -0.014865
wrist_3_cog:
x: 0.000242
y: -0.001192
z: -0.050422

92
unilabos/device_mesh/devices/elite_robot/config/cs620/visual_parameters.yaml Normal file
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mesh_files:
base:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/visual/base.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/collision/base.stl
shoulder:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/visual/shoulder.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/collision/shoulder.stl
upperarm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/visual/upperarm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/collision/upperarm.stl
mesh_files:
forearm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/visual/forearm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/collision/forearm.stl
wrist_1:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/visual/wrist1.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/collision/wrist1.stl
wrist_2:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/visual/wrist2.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/collision/wrist2.stl
wrist_3:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/visual/wrist3.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs620/collision/wrist3.stl

43
unilabos/device_mesh/devices/elite_robot/config/cs625/default_kinematics.yaml Normal file
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kinematics:
shoulder:
x: 0
y: 0
z: 0.2350
roll: 0
pitch: 0
yaw: 0
upperarm:
x: 0
y: 0
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
forearm:
x: -0.7500
y: 0
z: 0
roll: 0
pitch: 0
yaw: 0
wrist_1:
x: -0.6220
y: 0
z: 0.1725
roll: 0
pitch: 0
yaw: 0
wrist_2:
x: 0
y: -0.1280
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
wrist_3:
x: 0
y: 0.1250
z: 0
roll: -1.570796326589793
pitch: 0
yaw: 0

61
unilabos/device_mesh/devices/elite_robot/config/cs625/joint_limits.yaml Normal file
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joint_limits:
shoulder_pan_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 730.0
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
shoulder_lift_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 730.0
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 430.0
max_position: !degrees 180.0
max_velocity: !degrees 150.0
min_position: !degrees -180.0
wrist_1_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 100.0
max_position: !degrees 360.0
max_velocity: !degrees 210.0
min_position: !degrees -360.0
wrist_2_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 100.0
max_position: !degrees 360.0
max_velocity: !degrees 210.0
min_position: !degrees -360.0
wrist_3_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 100.0
max_position: !degrees 360.0
max_velocity: !degrees 210.0
min_position: !degrees -360.0

99
unilabos/device_mesh/devices/elite_robot/config/cs625/physical_parameters.yaml Normal file
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# Physical parameters
dh_parameters:
d1: 0.2350
a2: -0.7500
a3: -0.6220
d4: 0.1725
d5: 0.1280
d6: 0.1250
inertia_parameters:
base_mass: 1.50561968754018 # base mass, base inertia, base cog might be incorrect
shoulder_mass: 17.04
upperarm_mass: 26.543
forearm_mass: 7.816
wrist_1_mass: 3.095
wrist_2_mass: 3.095
wrist_3_mass: 0.879
inertia:
base:
ixx: 0.00678289120631133
ixy: 2.67618063769984E-07
ixz: -2.56895564177072E-06
iyy: 0.00685230321535615
iyz: 9.42628790478668E-05
izz: 0.0100437671447022
shoulder:
ixx: 0.13029
ixy: -8.271E-05
ixz: 0.0001067
iyy: 0.085215
iyz: -0.00066335
izz: 0.11386
upperarm:
ixx: 1.197
ixy: -0.00083272
ixz: -1.5396
iyy: 6.1117
iyz: -0.00015496
izz: 5.022
forearm:
ixx: 0.067797
ixy: 4.4997E-05
ixz: -0.12636
iyy: 1.3409
iyz: 1.45E-05
izz: 1.2908
wrist_1:
ixx: 0.0079584
ixy: -3.024E-06
ixz: 5.734E-06
iyy: 0.0066863
iyz: 1.766E-05
izz: 0.0048407
wrist_2:
ixx: 0.007958413
ixy: -3.024E-06
ixz: 5.734E-06
iyy: 0.006686348
iyz: 1.766E-05
izz: 0.004840671
wrist_3:
ixx: 0.004065851
ixy: 1.5185E-05
ixz: -1.1453E-05
iyy: 0.004060372
iyz: 4.2152E-05
izz: 0.001170392
center_of_mass:
base_cog:
x: -2.4008693014781E-05
y: 0.00117748953656619
z: 0.0762927770474629
shoulder_cog:
x: 9.9E-05
y: -0.026311
z: -0.026723
upperarm_cog:
x: -0.27762
y: -1.7E-05
z: 0.20184
forearm_cog:
x: -0.30259
y: 2.1E-05
z: 0.07237
wrist_1_cog:
x: -3.7E-05
y: -0.01051
z: -0.014865
wrist_2_cog:
x: 3.7E-05
y: 0.01051
z: -0.014865
wrist_3_cog:
x: 0.000242
y: -0.001192
z: -0.050422

92
unilabos/device_mesh/devices/elite_robot/config/cs625/visual_parameters.yaml Normal file
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mesh_files:
base:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/visual/base.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/collision/base.stl
shoulder:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/visual/shoulder.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/collision/shoulder.stl
upperarm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/visual/upperarm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/collision/upperarm.stl
mesh_files:
forearm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/visual/forearm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/collision/forearm.stl
wrist_1:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/visual/wrist1.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/collision/wrist1.stl
wrist_2:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/visual/wrist2.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/collision/wrist2.stl
wrist_3:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/visual/wrist3.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs625/collision/wrist3.stl

43
unilabos/device_mesh/devices/elite_robot/config/cs63/default_kinematics.yaml Normal file
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kinematics:
shoulder:
x: 0
y: 0
z: 0.1530
roll: 0
pitch: 0
yaw: 0
upperarm:
x: 0
y: 0
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
forearm:
x: -0.2700
y: 0
z: 0
roll: 0
pitch: 0
yaw: 0
wrist_1:
x: -0.2575
y: 0
z: 0.1445
roll: 0
pitch: 0
yaw: 0
wrist_2:
x: 0
y: -0.0965
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
wrist_3:
x: 0
y: 0.0920
z: 0
roll: -1.570796326589793
pitch: 0
yaw: 0

61
unilabos/device_mesh/devices/elite_robot/config/cs63/joint_limits.yaml Normal file
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joint_limits:
shoulder_pan_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
shoulder_lift_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 28.0
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
wrist_1_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
wrist_2_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
wrist_3_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0

99
unilabos/device_mesh/devices/elite_robot/config/cs63/physical_parameters.yaml Normal file
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# Physical parameters
dh_parameters:
d1: 0.1530
a2: -0.2700
a3: -0.2575
d4: 0.1445
d5: 0.0965
d6: 0.0920
inertia_parameters:
base_mass: 0.358193760044688 # base mass, base inertia, base cog might be incorrect
shoulder_mass: 3.095
upperarm_mass: 5.073
forearm_mass: 2.425
wrist_1_mass: 1.559
wrist_2_mass: 1.447
wrist_3_mass: 0.500
inertia:
base:
ixx: 0.000549739542527148
ixy: 8.03741216179988E-08
ixz: -9.14780809458034E-06
iyy: 0.000533024165382036
iyz: 3.46908903534662E-07
izz: 0.000655188839052244
shoulder:
ixx: 0.007958
ixy: 5.734E-06
ixz: 3.024E-06
iyy: 0.00484
iyz: -1.77E-05
izz: 0.006686
upperarm:
ixx: 0.074168
ixy: -7.5E-06
ixz: -0.065579
iyy: 0.21937
iyz: -2.19E-05
izz: 0.15104
forearm:
ixx: 0.005082
ixy: -2.7E-06
ixz: -0.0056236
iyy: 0.0924207
iyz: -1.726E-06
izz: 0.0897559
wrist_1:
ixx: 0.0045009
ixy: 1.96E-06
ixz: -2.646E-06
iyy: 0.0042164
iyz: -3.58E-07
izz: 0.0014538
wrist_2:
ixx: 0.0023787
ixy: 1.953E-06
ixz: 2.643E-06
iyy: 0.0020859
iyz: 5.584E-06
izz: 0.0013191
wrist_3:
ixx: 0.001431
ixy: -2.32E-07
ixz: 7.955E-06
iyy: 0.0014299
iyz: 1.266E-06
izz: 0.0003265
center_of_mass:
base_cog:
x: -0.000721181367009438
y: 1.78114684963572E-05
z: 0.0546249293265112
shoulder_cog:
x: 3.7E-05
y: -0.0149
z: -0.0105
upperarm_cog:
x: -0.11596
y: -2.6E-05
z: 0.1148
forearm_cog:
x: -0.1542
y: 1.4E-05
z: 0.0238
wrist_1_cog:
x: 1.3E-05
y: -0.00479
z: -0.02274
wrist_2_cog:
x: -1.4E-05
y: 0.0051
z: -0.0127
wrist_3_cog:
x: -0.000684
y: -0.000175
z: -0.0423

92
unilabos/device_mesh/devices/elite_robot/config/cs63/visual_parameters.yaml Normal file
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mesh_files:
base:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/base.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/base.stl
shoulder:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/shoulder.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/shoulder.stl
upperarm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/upperarm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/upperarm.stl
mesh_files:
forearm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/forearm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/forearm.stl
wrist_1:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/wrist1.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/wrist1.stl
wrist_2:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/wrist2.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/wrist2.stl
wrist_3:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/visual/wrist3.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs63/collision/wrist3.stl

43
unilabos/device_mesh/devices/elite_robot/config/cs66/default_kinematics.yaml Normal file
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kinematics:
shoulder:
x: 0
y: 0
z: 0.1625
roll: 0
pitch: 0
yaw: 0
upperarm:
x: 0
y: 0
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
forearm:
x: -0.4270
y: 0
z: 0
roll: 0
pitch: 0
yaw: 0
wrist_1:
x: -0.3905
y: 0
z: 0.1475
roll: 0
pitch: 0
yaw: 0
wrist_2:
x: 0
y: -0.0965
z: 0
roll: 1.570796326589793
pitch: 0
yaw: 0
wrist_3:
x: 0
y: 0.0920
z: 0
roll: -1.570796326589793
pitch: 0
yaw: 0

61
unilabos/device_mesh/devices/elite_robot/config/cs66/joint_limits.yaml Normal file
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joint_limits:
shoulder_pan_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 150.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
shoulder_lift_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 150.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 150.0
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
wrist_1_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 28.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_2_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 28.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_3_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 28.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0

99
unilabos/device_mesh/devices/elite_robot/config/cs66/physical_parameters.yaml Normal file
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# Physical parameters
dh_parameters:
d1: 0.1625
a2: -0.4270
a3: -0.3905
d4: 0.1475
d5: 0.0965
d6: 0.0920
inertia_parameters:
base_mass: 0.57127 # base mass, base inertia, base cog might be incorrect
shoulder_mass: 4.521
upperarm_mass: 7.533
forearm_mass: 3.009
wrist_1_mass: 1.559
wrist_2_mass: 1.447
wrist_3_mass: 0.500
inertia:
base:
ixx: 0.0010759
ixy: 7.8337E-08
ixz: -1.3213E-05
iyy: 0.0010109
iyz: 4.5992E-07
izz: 0.001408
shoulder:
ixx: 0.014192
ixy: 1.7839E-05
ixz: -1.027E-06
iyy: 0.0091982
iyz: -4.6778E-05
izz: 0.012777
upperarm:
ixx: 0.13719
ixy: -7.5676E-05
ixz: -0.17551
iyy: 0.6614
iyz: 7.59E-06
izz: 0.53649
forearm:
ixx: 0.0087604
ixy: 1.7762E-05
ixz: -0.010765
iyy: 0.22281
iyz: -4.13E-07
izz: 0.2176
wrist_1:
ixx: 0.0045009
ixy: 1.961E-06
ixz: -2.646E-06
iyy: 0.0042164
iyz: -3.58E-07
izz: 0.0014539
wrist_2:
ixx: 0.0023787
ixy: 1.953E-06
ixz: 2.643E-06
iyy: 0.0020859
iyz: 5.584E-06
izz: 0.0013191
wrist_3:
ixx: 0.0014314
ixy: -2.32E-07
ixz: 7.955E-06
iyy: 0.0014299
iyz: 1.266E-06
izz: 0.0003265
center_of_mass:
base_cog:
x: -0.00060346
y: 1.4311E-05
z: 0.060221
shoulder_cog:
x: 2.2E-05
y: -0.016526
z: -0.014442
upperarm_cog:
x: -0.17828
y: 4.0E-06
z: 0.12803
forearm_cog:
x: -0.20416
y: -7.0E-06
z: 0.03064
wrist_1_cog:
x: 1.3E-05
y: -0.00479
z: -0.02274
wrist_2_cog:
x: -1.4E-05
y: 0.005107
z: -0.012702
wrist_3_cog:
x: -0.000684
y: -0.000175
z: -0.04234

92
unilabos/device_mesh/devices/elite_robot/config/cs66/visual_parameters.yaml Normal file
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@@ -0,0 +1,92 @@
mesh_files:
base:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/visual/base.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/collision/base.stl
shoulder:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/visual/shoulder.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/collision/shoulder.stl
upperarm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/visual/upperarm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/collision/upperarm.stl
mesh_files:
forearm:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/visual/forearm.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/collision/forearm.stl
wrist_1:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/visual/wrist1.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/collision/wrist1.stl
wrist_2:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/visual/wrist2.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/collision/wrist2.stl
wrist_3:
visual:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/visual/wrist3.dae
material:
name: "LightGrey"
color: "0.7 0.7 0.7 1.0"
collision:
mesh:
package: eli_cs_robot_description
path: meshes/cs66/collision/wrist3.stl

6
unilabos/device_mesh/devices/elite_robot/config/initial_positions.yaml Normal file
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shoulder_pan_joint: 0.0
shoulder_lift_joint: -1.57
elbow_joint: 0.0
wrist_1_joint: -1.57
wrist_2_joint: 1.57
wrist_3_joint: 0.0