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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/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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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