Add URDF model for RM75-B OmniPicker with detailed link and joint specifications

2026-07-28 17:06:06 +08:00
parent fae5a560fb
commit 2a12eea4d5
34 changed files with 2006 additions and 403 deletions
@@ -5,7 +5,7 @@ single_arm_velocity_teleop:
  ros__parameters:
    arm_name: left_rm75
    controller_topic: /xr/left_controller
-    control_rate_hz: 90.0
+    control_rate_hz: 125.0
    command_timeout_sec: 0.12

    # 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。
@@ -20,7 +20,7 @@ single_arm_velocity_teleop:
    enable_orientation_axes: [true, true, true]
    orientation_deadband_rad: 0.005
    orientation_filter_alpha: 0.65
-    max_orientation_speed: 0.6
+    max_orientation_speed: 0.5
    workspace_min: [-0.70, -0.60, 0.10]
    workspace_max: [0.70, 0.40, 0.70]
    cyl_radius_limit: [0.20, 0.60]