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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/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