Dobot Setup

Synapse provides offline kinematics and visualization wrappers for all 17 models in the official Dobot ROS 2 repository. Each model has six joints. Physical robot control is not implemented.

Install and prepare descriptions

Run these commands from the telekinesis-examples repository root:

conda activate synapse
python -m pip install --upgrade telekinesis-synapse xacro
git clone --depth 1 https://github.com/Dobot-Arm/DOBOT_6Axis_ROS2_V4.git .cache/DOBOT_6Axis_ROS2_V4
python examples/robotics/manipulators/dobot/prepare_dobot.py
python examples/robotics/manipulators/dobot/visualize_rerun.py

Skip the clone command if the checkout already exists. ROS is not required. The gallery supports the Synapse 0.10.8 wheel using its bundled Dobot wrappers when the installed package does not yet include the new module.

The converter writes all 17 URDFs and upstream MoveIt SRDFs to .cache/dobot, along with a manifest recording the upstream commit. Mesh paths point into the cloned repository: keep the checkout and regenerate descriptions if it moves. The SRDFs supply disabled self-collision pairs to Synapse's kinematic model. Simulator plugins are removed, and Nova2S's invalid material alpha of 50 is clamped to 1 in the generated URDF. Upstream files remain unchanged.

View all models in Rerun

The gallery places all models in a labeled grid with separate entity paths. It checks six joints, seven visual meshes, and finite mesh transforms per model, then saves .cache/dobot/all_dobot.rrd and opens the viewer.

# Save the recording without opening a viewer.
python examples/robotics/manipulators/dobot/visualize_rerun.py --headless

# Open a previously generated recording.
python -m rerun .cache/dobot/all_dobot.rrd

Use --description-dir for another generated-description directory and --save for another recording destination.

Use a model in Python

With a Synapse build containing the new dobot module:

from telekinesis.synapse.robots.manipulators.dobot import DobotCR5

robot = DobotCR5(description_dir=".cache/dobot")
robot.visualize_rerun(live=False)

Pass description_dir or set DOBOT_DESCRIPTION_DIR to an absolute directory when running outside the repository root. Models use Link6 as their default TCP and start at zero joint angles. Hardware connection and controller motion methods raise NotImplementedError.

Supported models

All classes below are registered in Synapse's manipulator registry in the build containing the Dobot integration. Manufacturer payload, reach, and accuracy specifications are not inferred from the model names or URDFs.

Model	Python class	Generated descriptions
CR3	DobotCR3	cr3.urdf / cr3.srdf
CR3AF	DobotCR3AF	cr3af.urdf / cr3af.srdf
CR5	DobotCR5	cr5.urdf / cr5.srdf
CR5AF	DobotCR5AF	cr5af.urdf / cr5af.srdf
CR6AL	DobotCR6AL	cr6al.urdf / cr6al.srdf
CR7	DobotCR7	cr7.urdf / cr7.srdf
CR10	DobotCR10	cr10.urdf / cr10.srdf
CR10AF	DobotCR10AF	cr10af.urdf / cr10af.srdf
CR12	DobotCR12	cr12.urdf / cr12.srdf
CR16	DobotCR16	cr16.urdf / cr16.srdf
CR20	DobotCR20	cr20.urdf / cr20.srdf
CR20AF	DobotCR20AF	cr20af.urdf / cr20af.srdf
CR30H	DobotCR30H	cr30h.urdf / cr30h.srdf
ME6	DobotME6	me6.urdf / me6.srdf
Nova 2	DobotNova2	nova2.urdf / nova2.srdf
Nova 2S	DobotNova2S	nova2s.urdf / nova2s.srdf
Nova 5	DobotNova5	nova5.urdf / nova5.srdf