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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/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