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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/right_arm_rm75.yaml
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@ -49,8 +49,7 @@ 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: [-25.60, 34.09, -19.55, 71.59, 16.97, 80.98, 59.67]
initial_tcp_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
move_to_initial_pose_on_connect: true
initial_joint_pose: [-90.14, 3.76, -86.89, 87.89, -96.53, -79.62, -90.04]
init_move_speed: 20
debug_topic_prefix: /xr_rm