We are actively building out the community hardware registry for 6-DOF force-controlled manipulators capable of running 500 Hz haptic loops.
### Target Benchtop Manipulators & Specifications:
#### 1. Galaxea A1Z (Force-Controlled 6-DOF)
* **Payload:** 3.0 kg rated (5.0 kg peak).
* **Communication Interface:** CAN Bus.
* **Integration Status:** **Primary Hardware Target (In Progress).** Force-controlled planetary gear motors match our active variable impedance (Kp/Kd) control specification. Physical benchtop bring-up and verification are scheduled.
#### 2. Unitree Z1
* **Payload:** 3.5 kg.
* **Communication Interface:** Direct UDP / CAN.
* **Integration Status:** **Kinematically Mapped.** Low-latency control socket specifications map cleanly to `public/ros2_bridge_node.py`.
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*To submit custom URDF files, sensor pinouts, or hardware specifications to the official registry, contact developer relations at [dev@christensonrobotics.com](mailto:dev@christensonrobotics.com) or submit an inquiry via [christensonrobotics.com](https://christensonrobotics.com).*