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Enhance orientation control for RM75 arms in XR teleoperation

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YikaiFu-cart
2026-06-09 14:50:04 +08:00
parent 7f8ebefadc
commit 07517e0c49
13 changed files with 606 additions and 97 deletions
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17
xr_rm_bringup/config/dual_arm_rm75.yaml
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@ -1,9 +1,10 @@
# 阶段一：PICO 遥操作双 RM75 平台配置。
#
# 当前控制方式是“相对位姿透传”：
# 按下 grip 时锁定当前手柄位姿和 TCP 位姿，之后将手柄相对位移映射为目标
# TCP 位姿，经过工作空间限幅、目标低通和单帧步长限制后，通过 rm_movep_canfd
# 下发。cmd_vel 仅作为目标位姿变化率调试话题，不是机械臂执行命令。
# 按下 grip 时锁定当前手柄位姿和 TCP 位姿，之后将手柄相对位移和相对旋转
# 映射为目标 TCP 位姿，经过工作空间限幅、目标低通、姿态低通和单帧步长
# 限制后，通过 rm_movep_canfd 下发。cmd_vel 仅作为目标位姿变化率调试话题，
# 不是机械臂执行命令。
# 末端外设由 peripherals_rm75.yaml 配置，真机连接阶段初始化后由遥操作节点复用。
left_arm_teleop:
@ -21,6 +22,11 @@ left_arm_teleop:
target_filter_fast_threshold_m: 0.03
max_linear_speed: 0.2
enable_position_axes: [true, true, true]
enable_orientation_control: true
enable_orientation_axes: [true, true, true]
orientation_deadband_rad: 0.005
orientation_filter_alpha: 0.65
max_orientation_speed: 0.6
current_pose_poll_hz: 10.0
workspace_min: [-0.70, -0.60, 0.10]
@ -71,6 +77,11 @@ right_arm_teleop:
target_filter_fast_threshold_m: 0.03
max_linear_speed: 0.2
enable_position_axes: [true, true, true]
enable_orientation_control: true
enable_orientation_axes: [true, true, true]
orientation_deadband_rad: 0.005
orientation_filter_alpha: 0.65
max_orientation_speed: 0.6
current_pose_poll_hz: 10.0
workspace_min: [-0.70, -0.60, 0.10]