# EDULITE_A3

**Repository Path**: robstride/EDULITE_A3

## Basic Information

- **Project Name**: EDULITE_A3
- **Description**: Lightweight fully open-source 6-DOF robotic arm
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 6
- **Forks**: 3
- **Created**: 2026-02-10
- **Last Updated**: 2026-05-06

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# EL-A3 Robotic Arm

> 7-DOF 桌面机械臂项目，包含纯 Python SDK 和 ROS2 控制系统两个独立子项目。

---

## 子项目

| 项目 | 路径 | 说明 |
|------|------|------|
| **Python SDK** | [`el_a3_sdk/`](el_a3_sdk/) | 纯 Python SDK，Direct CAN 通信，多臂管理，Pinocchio 动力学 |
| **ROS2 控制系统** | [`el_a3_ros/`](el_a3_ros/) | ros2_control 硬件接口，MoveIt2 运动规划，URDF 描述 |
| **硬件制造资料** | [`hardware/`](hardware/) | STEP 模型、3MF 打印文件、线束图纸、PCB 资料、组装 SOP |

各子项目的详细文档请参阅对应目录下的 README.md。

> **注意：** `hardware/` 目录中的大文件通过 Git LFS 管理，首次克隆后请执行 `git lfs pull`。

---

## 硬件要求

| 项目 | 规格 |
|------|------|
| **机械臂** | EL-A3 7-DOF（6 臂关节 + L7 夹爪） |
| **电机** | Robstride RS00 ×3（L1-L3）+ EL05/RS05 ×4（L4-L7） |
| **CAN 适配器** | CANdle / gs_usb 兼容设备 |
| **电源** | 24V / 48V 直流电源 |
| **PC** | Ubuntu 22.04+ x86_64 |

### 电机配置

| 关节 | 电机ID | 型号 | 力矩限制 | 速度限制 | 位置限制 | 方向 |
|------|--------|------|----------|----------|----------|------|
| L1 | 1 | RS00 | ±14 Nm | ±33 rad/s | ±2.79 rad (±160°) | -1 |
| L2 | 2 | RS00 | ±14 Nm | ±33 rad/s | 0~3.67 rad (0°~210°) | +1 |
| L3 | 3 | RS00 | ±14 Nm | ±33 rad/s | -4.01~0 rad (-230°~0°) | -1 |
| L4 | 4 | EL05/RS05 | ±6/±5.5 Nm | ±50 rad/s | ±1.57 rad (±90°) | +1 |
| L5 | 5 | EL05/RS05 | ±6/±5.5 Nm | ±50 rad/s | ±1.57 rad (±90°) | -1 |
| L6 | 6 | EL05/RS05 | ±6/±5.5 Nm | ±50 rad/s | ±1.57 rad (±90°) | +1 |
| L7（夹爪） | 7 | EL05/RS05 | ±6/±5.5 Nm | ±50 rad/s | ±1.57 rad (±90°) | +1 |

## 软件环境

| 依赖 | 版本 / 说明 |
|------|------------|
| **操作系统** | Ubuntu 22.04+ (x86_64) |
| **Python** | 3.10+ |
| **ROS2** | Humble Hawksbill（仅 ROS2 子项目需要） |
| **CAN 总线** | SocketCAN · CAN 2.0 扩展帧 · 1 Mbps |
| **核心 Python 依赖** | `numpy`、`pyyaml` |
| **可选 Python 依赖** | `pinocchio`（`pip install pin`）— FK/IK/重力补偿 |
| **ROS2 依赖** | `ros2_control`、`MoveIt2`、`pick_ik`、`joy` 等（通过 `scripts/install_deps.sh` 安装） |

### CAN 接口配置

```bash
# 使用脚本（推荐）
sudo bash scripts/setup_can.sh can0 1000000

# 或手动配置
sudo modprobe gs_usb
sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 txqueuelen 1000
sudo ip link set can0 up

# 验证
ip link show can0
```

---

## English

> A 7-DOF desktop robotic arm project comprising two independent sub-projects: a pure Python SDK and a ROS2 control system.

### Sub-projects

| Project | Path | Description |
|---------|------|-------------|
| **Python SDK** | [`el_a3_sdk/`](el_a3_sdk/) | Pure Python SDK with direct CAN communication, multi-arm management, and Pinocchio dynamics |
| **ROS2 Control System** | [`el_a3_ros/`](el_a3_ros/) | ros2_control hardware interface, MoveIt2 motion planning, URDF description |
| **Hardware Manufacturing** | [`hardware/`](hardware/) | STEP models, 3MF print files, wiring harness drawings, PCB files, assembly SOP |

For detailed documentation, refer to the README.md in each sub-project directory.

> **Note:** Large files in the `hardware/` directory are managed via Git LFS. Run `git lfs pull` after initial clone.

### Hardware Requirements

| Item | Specification |
|------|---------------|
| **Robotic Arm** | EL-A3 7-DOF (6 arm joints + L7 gripper) |
| **Motors** | Robstride RS00 ×3 (L1-L3) + EL05/RS05 ×4 (L4-L7) |
| **CAN Adapter** | CANdle / gs_usb compatible device |
| **Power Supply** | 24V / 48V DC |
| **PC** | Ubuntu 22.04+ x86_64 |

#### Motor Configuration

| Joint | Motor ID | Model | Torque Limit | Velocity Limit | Position Limit | Direction |
|-------|----------|-------|-------------|----------------|----------------|-----------|
| L1 | 1 | RS00 | ±14 Nm | ±33 rad/s | ±2.79 rad (±160°) | -1 |
| L2 | 2 | RS00 | ±14 Nm | ±33 rad/s | 0~3.67 rad (0°~210°) | +1 |
| L3 | 3 | RS00 | ±14 Nm | ±33 rad/s | -4.01~0 rad (-230°~0°) | -1 |
| L4 | 4 | EL05/RS05 | ±6/±5.5 Nm | ±50 rad/s | ±1.57 rad (±90°) | +1 |
| L5 | 5 | EL05/RS05 | ±6/±5.5 Nm | ±50 rad/s | ±1.57 rad (±90°) | -1 |
| L6 | 6 | EL05/RS05 | ±6/±5.5 Nm | ±50 rad/s | ±1.57 rad (±90°) | +1 |
| L7 (Gripper) | 7 | EL05/RS05 | ±6/±5.5 Nm | ±50 rad/s | ±1.57 rad (±90°) | +1 |

### Software Environment

| Dependency | Version / Notes |
|------------|----------------|
| **OS** | Ubuntu 22.04+ (x86_64) |
| **Python** | 3.10+ |
| **ROS2** | Humble Hawksbill (required only for the ROS2 sub-project) |
| **CAN Bus** | SocketCAN · CAN 2.0 Extended Frame · 1 Mbps |
| **Core Python Dependencies** | `numpy`, `pyyaml` |
| **Optional Python Dependencies** | `pinocchio` (`pip install pin`) — FK/IK/Gravity compensation |
| **ROS2 Dependencies** | `ros2_control`, `MoveIt2`, `pick_ik`, `joy`, etc. (install via `scripts/install_deps.sh`) |

#### CAN Interface Setup

```bash
# Using the provided script (recommended)
sudo bash scripts/setup_can.sh can0 1000000

# Or configure manually
sudo modprobe gs_usb
sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 txqueuelen 1000
sudo ip link set can0 up

# Verify
ip link show can0
```