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
@@ -35,8 +35,9 @@ def _rm75_urdf() -> PathJoinSubstitution:
    return PathJoinSubstitution([
        FindPackageShare("xr_rm_teleop"),
        "models",
-        "rm75",
-        "RM75-B.urdf",
+        "rm75_omnipicker",
+        "urdf",
+        "RM75-B_OmniPicker_fixed.urdf",
    ])


@@ -286,7 +287,7 @@ def generate_launch_description() -> LaunchDescription:
        # 非空时作为左右臂全局覆盖，例如 avoid_singularity:=0。
        DeclareLaunchArgument("avoid_singularity", default_value=""),
        # 每周期同步一次实际关节反馈、执行一次 Placo QP，再发送 rm_movej_canfd。
-        DeclareLaunchArgument("control_rate_hz", default_value="90.0"),
+        DeclareLaunchArgument("control_rate_hz", default_value="125.0"),
        # 默认低跟随；高跟随请确认控制器和网络能稳定满足厂商周期要求后再打开。
        DeclareLaunchArgument("follow", default_value="false"),
        DeclareLaunchArgument("configure_safety_limits", default_value="true"),