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添加机械臂和移液站

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This commit is contained in:
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/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