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adjust initial pose of robotic arms

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YikaiFu-cart
2026-07-14 17:20:50 +08:00
parent 8aed1687f3
commit 33734524ed
12 changed files with 72 additions and 36 deletions
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5
xr_rm_bringup/config/left_arm_rm75.yaml
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@ -50,8 +50,7 @@ single_arm_velocity_teleop:
max_angular_acc: 2.0
joint_max_speed: 180.0
joint_max_acc: 180.0
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_tcp_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
move_to_initial_pose_on_connect: true
initial_joint_pose: [-79.55, -9.99, 71.01, 101.45, 95.07, -84.47, -74.52]
init_move_speed: 20
debug_topic_prefix: /xr_rm