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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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13
xr_rm_bringup/config/right_arm_rm75.yaml
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@ -8,17 +8,22 @@ single_arm_velocity_teleop:
control_rate_hz: 90.0
command_timeout_sec: 0.12
scale: 0.75
scale: 0.7
deadband_m: 0.001
target_filter_alpha: 0.65
target_filter_alpha_fast: 0.9
target_filter_fast_threshold_m: 0.03
target_filter_fast_threshold_m: 0.05
max_linear_speed: 0.15
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: 0.5
current_pose_poll_hz: 10.0
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.70, 0.40, 0.70]
workspace_min: [-0.60, -0.60, 0.10]
workspace_max: [0.60, 0.70, 0.55]
cyl_radius_limit: [0.10, 0.70]
low_z_threshold: 0.1
low_z_min_radius: 0.1