YikaiFu-cart/acRealman_xr
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config: 更新左右臂初始位姿

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YikaiFu-cart
2026-07-31 15:32:06 +08:00
parent 4e068ce637
commit 21c444dcc8
3 changed files with 4 additions and 4 deletions
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xr_rm_bringup/config/dual_arm_rm75.yaml
+2 -2
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@@ -61,7 +61,7 @@ left_arm_teleop:
joint_max_speed: 180.0 joint_max_speed: 180.0
joint_max_acc: 180.0 joint_max_acc: 180.0
move_to_initial_pose_on_connect: false move_to_initial_pose_on_connect: false
initial_joint_pose: [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51] initial_joint_pose: [-78.81, 3.22, 67.96, 97.12, 95.08, -81.11, -74.55]
init_move_speed: 20 init_move_speed: 20
debug_topic_prefix: /xr_rm debug_topic_prefix: /xr_rm
@@ -118,6 +118,6 @@ right_arm_teleop:
joint_max_speed: 180.0 joint_max_speed: 180.0
joint_max_acc: 180.0 joint_max_acc: 180.0
move_to_initial_pose_on_connect: false move_to_initial_pose_on_connect: false
initial_joint_pose: [-25.60, 34.09, -19.55, 71.59, 16.97, 80.98, 59.67] initial_joint_pose: [-86.10, 22.80, -89.57, 93.98, -91.82, -87.32, -89.35]
init_move_speed: 20 init_move_speed: 20
debug_topic_prefix: /xr_rm debug_topic_prefix: /xr_rm
xr_rm_bringup/config/left_arm_rm75.yaml
+1 -1
View File
@@ -54,6 +54,6 @@ single_arm_velocity_teleop:
joint_max_speed: 180.0 joint_max_speed: 180.0
joint_max_acc: 180.0 joint_max_acc: 180.0
move_to_initial_pose_on_connect: false move_to_initial_pose_on_connect: false
initial_joint_pose: [-79.55, -9.99, 71.01, 101.45, 95.07, -84.47, -74.52] initial_joint_pose: [-78.81, 3.22, 67.96, 97.12, 95.08, -81.11, -74.55]
init_move_speed: 20 init_move_speed: 20
debug_topic_prefix: /xr_rm debug_topic_prefix: /xr_rm
xr_rm_bringup/config/right_arm_rm75.yaml
+1 -1
View File
@@ -54,6 +54,6 @@ single_arm_velocity_teleop:
joint_max_speed: 180.0 joint_max_speed: 180.0
joint_max_acc: 300.0 joint_max_acc: 300.0
move_to_initial_pose_on_connect: false move_to_initial_pose_on_connect: false
initial_joint_pose: [-90.14, 3.76, -86.89, 87.89, -96.53, -79.62, -90.04] initial_joint_pose: [-86.10, 22.80, -89.57, 93.98, -91.82, -87.32, -89.35]
init_move_speed: 20 init_move_speed: 20
debug_topic_prefix: /xr_rm debug_topic_prefix: /xr_rm