Hardware and perception

EROBS plans with a model of the arm, attached tool, and surrounding cell. Drivers execute those plans; camera measurements provide targets for vision-guided tasks.

The CMS configuration describes a UR5e with a wrist-mounted Zivid camera. It includes models and settings for Hand-E, ePick, 2FG7, the pipettor, and the no-tool state (none). LIX has separate model and planning packages, but its deployment configuration is incomplete; see beamline adaptation.

Hardware guides

Guide	What it covers
Robot models and controllers	How EROBS loads arm and tool geometry, planning settings, and controllers
End effectors	Tool drivers, working-tip geometry, ePick cup profiles, and device limitations
Cameras and detection	Zivid capture, detection helpers, and ZED support limits
Calibration and planning scenes	Arm and camera calibration, static obstacles, and optional Octomap integration
Survey mapping	Recording multiple camera viewpoints and merging them into a point cloud

The model, working tip, camera transform, and scene geometry must match the installation. Check these before compensating for a positioning error with task offsets.

Use configuration and deployment to select settings and launch options. For operating instructions, see tools and end effectors and vision-guided tasks. Perception architecture explains how detections become motion targets.