YikaiFu-cart/acRealman_xr
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adjust initial pose of robotic arms

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This commit is contained in:
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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6
xr_rm_bringup/tools/launcher_ui.py
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@ -290,8 +290,7 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
(
"Left Arm RealMan Launch",
"ros2 launch xr_rm_bringup arm_debug.launch.py arm:=left use_mock:=false "
f"left_robot_ip:={DEFAULT_LEFT_IP} "
"move_to_initial_pose_on_connect:=false",
f"left_robot_ip:={DEFAULT_LEFT_IP}",
),
("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
("Left Tool Open", _tool_command("left", True)),
@ -308,8 +307,7 @@ def build_commands_by_mode(mode: str) -> list[tuple[str, str]]:
(
"Right Arm RealMan Launch",
"ros2 launch xr_rm_bringup arm_debug.launch.py arm:=right use_mock:=false "
f"right_robot_ip:={DEFAULT_RIGHT_IP} "
"move_to_initial_pose_on_connect:=false",
f"right_robot_ip:={DEFAULT_RIGHT_IP}",
),
("XRobotoolkit UDP Bridge (90 Hz)", _xrobotoolkit_bridge_command()),
("Right Tool Open", _tool_command("right", True)),

6
xr_rm_bringup/tools/realman_dual_arm_state_monitor.py
View File

@ -418,12 +418,12 @@ def format_arm_block(name: str, snap: ArmSnapshot, now_t: float) -> str:
age = now_t - snap.last_update if snap.last_update > 0 else float("inf")
stale_flag = "(stale)" if age > 2.0 else ""
j = ", ".join(f"{v:7.2f}" for v in snap.joint_deg)
p = snap.pose_euler
j = ", ".join(f"{v:.2f}" for v in snap.joint_deg)
p = ", ".join(f"{v:.4f}" for v in snap.pose_euler)
return (
f"[{name}] update_age={age:5.2f}s {stale_flag}, ret={snap.ret_code}\n"
f" Joint(deg): [{j}]\n"
f" Pose[x y z rx ry rz]: [{p[0]: .4f}, {p[1]: .4f}, {p[2]: .4f}, {p[3]: .4f}, {p[4]: .4f}, {p[5]: .4f}]\n"
f" Pose[x y z rx ry rz]: [{p}]\n"
f" Err: {snap.err_text}"
)