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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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7
xr_rm_bringup/config/left_arm_rm75.yaml
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@ -8,7 +8,7 @@ single_arm_velocity_teleop:
control_rate_hz: 90.0
command_timeout_sec: 0.12
# 手柄相对位移 -> 目标 TCP 位姿；随后做目标低通和单帧步长限制。
# 手柄相对位姿 -> 目标 TCP 位姿；随后做目标低通、姿态低通和单帧步长限制。
scale: 1.0
deadband_m: 0.001
target_filter_alpha: 0.65
@ -16,6 +16,11 @@ single_arm_velocity_teleop:
target_filter_fast_threshold_m: 0.03
max_linear_speed: 0.3
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]