星尘智能 · 机器人平台

S1

查看场景与任务返回机器人
49相关场景
168相关任务
194k记录
2.7k小时

产能：2,156 - 5,670小时/月

机器人参数

S15 个参数
总计
23 DOF
双臂 自由度
7 自由度 * 2
躯干自由度
4 自由度 * 1
头部自由度
2 DOF
底盘自由度
3 DOF (Vx Vy Yaw)
机器人性能参数6 个参数
机械臂末端额定负载（水平，连续）
5 Kg
关节最大速度
500 °/s (Shoulder), 800 °/s (Elbow), 1200 °/s (Wrist)
关节最大力矩
200 Nm (Shoulder), 66 Nm (Elbow), 18 Nm (Wrist)
机械臂末端最大速度
>10 m/s
机械臂末端最大加速度
>100 m/s²
机械臂末端重复定位精度
±0.1 mm
传感器系统4 个参数
头部相机
RGB-D 相机 * 1；双目视觉相机 * 1，1280×720，30 FPS，FOV：80°×51°
夹爪相机
RGB-D 相机 * 2，640×480，30 FPS，FOV：78°×63°
胸部相机
RGB-D 相机 * 1，1280×720，30 FPS，FOV：86°×55°
底盘激光雷达
激光雷达 ×2
其他4 个参数
电池
1000 Wh
底盘速度
1.67 m/s (Unlockable to higher velocity)
驱动方式
绳驱 + 电机驱动
数据采集方式
VR 全身采集

末端执行器

采集时与该机器人型号配套使用的灵巧手或夹爪。

夹爪0 个参数

Astribot S1 列出的夹爪配置。

暂无参数。

已记录话题与数据结构

该机器人可记录的话题。展开任一话题可查看对应的数据结构。

/astribot/pose_command_array五条具名机器人运动链的笛卡尔位姿指令。指令100 Hzcdr查看数据结构

astribot_msgs/msg/RobotCartesianStates

Command

Cartesian pose, twist, and wrench command/state entries for named robot chains.

headerstd_msgs/Header
Sample timestamp.
names[]string[]
Named Cartesian chains.
states[]RobotCartesianState[]
Pose, twist, and wrench values.
/astribot_arm_left/joint_space_command左臂关节指令。指令100 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
原始消息定义
Header header
uint8 mode
string[] name
float64[] command
/astribot_arm_right/joint_space_command右臂关节指令。指令100 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
原始消息定义
Header header
uint8 mode
string[] name
float64[] command
/astribot_arm_left/joint_space_states左臂实测关节状态。运动状态250 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
原始消息定义
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_arm_right/joint_space_states右臂实测关节状态。运动状态250 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
原始消息定义
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_chassis/joint_space_command底盘 Vx、Vy 与偏航角指令。指令95-100 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
原始消息定义
Header header
uint8 mode
string[] name
float64[] command
/astribot_chassis/joint_space_states底盘实测状态。运动状态250 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
原始消息定义
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_gripper_left/joint_space_command左夹爪指令。末端执行器95-100 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
原始消息定义
Header header
uint8 mode
string[] name
float64[] command
/astribot_gripper_left/joint_space_states左夹爪实测状态。末端执行器250 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
原始消息定义
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_gripper_right/joint_space_command右夹爪指令。末端执行器95-100 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
原始消息定义
Header header
uint8 mode
string[] name
float64[] command
/astribot_gripper_right/joint_space_states右夹爪实测状态。末端执行器250 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
原始消息定义
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_head/joint_space_command头部关节指令。指令95-100 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
原始消息定义
Header header
uint8 mode
string[] name
float64[] command
/astribot_head/joint_space_states头部实测关节状态。运动状态250 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
原始消息定义
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_torso/joint_space_command躯干关节指令。指令95-100 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointController

Command

Mode-dependent joint command with populated joint names and command values.

headerstd_msgs/Header
Command timestamp.
modeuint8
Command mode.
name[]string[]
Commanded joint names.
command[]float64[]
Target values interpreted by command mode.
原始消息定义
Header header
uint8 mode
string[] name
float64[] command
/astribot_torso/joint_space_states躯干实测关节状态。运动状态250 Hzcdr查看数据结构

astribot_msgs/msg/RobotJointState

Motion state

Measured joint state with position, velocity, acceleration, and torque arrays.

headerstd_msgs/Header
Sample timestamp and frame metadata.
modeuint8
Controller/state mode.
name[]string[]
Often empty in the sample; joint identity is inferred by topic and fixed ordering.
position[] / velocity[] / acceleration[] / torque[]float64[]
Measured kinematic and effort arrays.
原始消息定义
Header header
uint8 mode
string[] name
float64[] position
float64[] velocity
float64[] acceleration
float64[] torque
/astribot_camera/*/color_compress/compressed五组相机的彩色图像流。相机30 Hzcdr查看数据结构

sensor_msgs/msg/CompressedImage

Camera

Compressed image envelope for JPEG color streams and sample raw mono16 depth payloads.

headerstd_msgs/Header
Camera frame timestamp.
formatstring
Image format descriptor.
datauint8[]
Encoded image payload.
原始消息定义
Header header
string format
uint8[] data
/astribot_camera/*/depth_compressRGBD 相机组的深度图像流。相机30 Hzcdr查看数据结构

sensor_msgs/msg/CompressedImage

Camera

Compressed image envelope for JPEG color streams and sample raw mono16 depth payloads.

headerstd_msgs/Header
Camera frame timestamp.
formatstring
Image format descriptor.
datauint8[]
Encoded image payload.
原始消息定义
Header header
string format
uint8[] data
/tf以 world_vr 为根坐标系的 VR 遥操作输入帧。坐标变换209 Hzcdr查看数据结构

tf2_msgs/msg/TFMessage

Transforms

Transform array. In this sample it carries VR teleoperation frames.

transforms[]geometry_msgs/TransformStamped[]
Stamped frame transforms.
原始消息定义
geometry_msgs/TransformStamped[] transforms