open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-13 19:25:12 +00:00
Code Issues Packages Projects Releases Wiki Activity

添加机械臂和移液站

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

43
unilabos/device_mesh/devices/elite_robot/config/cs625/default_kinematics.yaml Normal file
View File

@@ -0,0 +1,43 @@
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
View File

@@ -0,0 +1,61 @@
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
View File

@@ -0,0 +1,99 @@
# 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
View File

@@ -0,0 +1,92 @@
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