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dual arm control from sample_udp_sender.py

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YikaiFu-cart
2026-05-25 17:02:37 +08:00
parent 340bd9138d
commit 7551f1e8ea
18 changed files with 976 additions and 74 deletions
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xr_rm_bringup/config/right_arm_rm75.yaml
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@ -11,11 +11,11 @@ single_arm_velocity_teleop:
kp_linear: 1.8
deadband_m: 0.002
low_pass_alpha: 0.35
max_linear_speed: 0.04
max_linear_speed: 0.2
enable_position_axes: [true, true, true]
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.50, 0.40, 0.70]
workspace_max: [0.70, 0.40, 0.70]
cyl_radius_limit: [0.20, 0.60]
low_z_threshold: 0.20
low_z_min_radius: 0.21