From 75eff40fa2d3aa31a72a1d79219c4569206d975f Mon Sep 17 00:00:00 2001 From: YikaiFu-cart Date: Fri, 31 Jul 2026 16:20:59 +0800 Subject: [PATCH] =?UTF-8?q?config=EF=BC=9A=E4=BF=AE=E6=94=B9=E6=9C=BA?= =?UTF-8?q?=E6=A2=B0=E8=87=82yaml=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- AGENTS.md | 1 + xr_rm_bringup/config/dual_arm_rm75.yaml | 52 ++++++++++++------------- xr_rm_bringup/config/left_arm_rm75.yaml | 26 ++++++------- 3 files changed, 40 insertions(+), 39 deletions(-) diff --git a/AGENTS.md b/AGENTS.md index d219f97..7c0ff92 100644 --- a/AGENTS.md +++ b/AGENTS.md @@ -231,6 +231,7 @@ 除非用户明确要求，否则不要自动提交、推送或修改远程仓库。 使用 Superpowers 执行任务时，只允许按相关 skill 工作流创建本地 Git 提交； +同一项变更生成的规格文档与实施计划必须合并为一次本地提交，不得分别提交。 禁止执行 `git push`、合并本地分支、合并 PR 或其他远程写操作。相关 skill 如需独立 worktree 或配套本地分支，可以创建，但不得将其合并到其他分支。 其他情况下，除非用户明确要求，不要自动创建分支。 diff --git a/xr_rm_bringup/config/dual_arm_rm75.yaml b/xr_rm_bringup/config/dual_arm_rm75.yaml index 6cdd4eb..0738544 100755 --- a/xr_rm_bringup/config/dual_arm_rm75.yaml +++ b/xr_rm_bringup/config/dual_arm_rm75.yaml @@ -16,23 +16,23 @@ left_arm_teleop: feedback_resync_timeout_sec: 0.5 # 位姿目标生成与平滑参数。 - scale: 0.75 + scale: 0.7 deadband_m: 0.001 target_filter_alpha: 0.65 target_filter_alpha_fast: 0.9 target_filter_fast_threshold_m: 0.03 - max_linear_speed: 0.2 + max_linear_speed: 0.15 enable_position_axes: [true, true, true] enable_orientation_control: true enable_orientation_axes: [true, true, true] orientation_deadband_rad: 0.005 orientation_filter_alpha: 0.65 max_orientation_speed: 0.5 - workspace_min: [-0.70, -0.60, 0.10] - 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 + workspace_min: [-0.70, -0.70, 0.10] + workspace_max: [0.70, 0.70, 0.75] + cyl_radius_limit: [0.10, 0.80] + low_z_threshold: 0.1 + low_z_min_radius: 0.1 # PICO/OpenXR 位置坐标：+X 向右，+Y 向上，+Z 向后。 # 映射关系：机器人位移增量 = [-手柄y, 手柄z, -手柄x]。 @@ -45,7 +45,7 @@ left_arm_teleop: realtime_push_host_ip: 192.168.192.148 realtime_push_port: 8089 realtime_push_cycle_ms: 5 - avoid_singularity: 0 + avoid_singularity: 1 follow: false canfd_trajectory_mode: 2 canfd_radio: 0 @@ -54,12 +54,12 @@ left_arm_teleop: enable_trigger_gripper_control: true trigger_close_threshold: 0.95 configure_peripheral_on_connect: true - max_line_speed: 1.0 - max_angular_speed: 1.5 - max_line_acc: 1.0 - max_angular_acc: 2.0 + max_line_speed: 0.25 + max_angular_speed: 0.6 + max_line_acc: 1.3 + max_angular_acc: 3.0 joint_max_speed: 180.0 - joint_max_acc: 180.0 + joint_max_acc: 300.0 move_to_initial_pose_on_connect: false initial_joint_pose: [-78.81, 3.22, 67.96, 97.12, 95.08, -81.11, -74.55] init_move_speed: 20 @@ -73,23 +73,23 @@ right_arm_teleop: command_timeout_sec: 0.12 feedback_resync_timeout_sec: 0.5 - scale: 0.75 + scale: 0.7 deadband_m: 0.001 target_filter_alpha: 0.65 target_filter_alpha_fast: 0.9 - target_filter_fast_threshold_m: 0.03 - max_linear_speed: 0.2 + target_filter_fast_threshold_m: 0.05 + max_linear_speed: 0.15 enable_position_axes: [true, true, true] enable_orientation_control: true enable_orientation_axes: [true, true, true] orientation_deadband_rad: 0.005 orientation_filter_alpha: 0.65 max_orientation_speed: 0.5 - workspace_min: [-0.70, -0.60, 0.10] - 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 + workspace_min: [-0.70, -0.70, 0.10] + workspace_max: [0.70, 0.70, 0.75] + cyl_radius_limit: [0.10, 0.80] + low_z_threshold: 0.1 + low_z_min_radius: 0.1 # PICO/OpenXR 位置坐标：+X 向右，+Y 向上，+Z 向后。 # 映射关系：机器人位移增量 = [手柄y, 手柄z, 手柄x]。 @@ -111,12 +111,12 @@ right_arm_teleop: enable_trigger_gripper_control: true trigger_close_threshold: 0.95 configure_peripheral_on_connect: true - max_line_speed: 1.0 - max_angular_speed: 1.5 - max_line_acc: 1.0 - max_angular_acc: 2.0 + max_line_speed: 0.25 + max_angular_speed: 0.6 + max_line_acc: 1.3 + max_angular_acc: 3.0 joint_max_speed: 180.0 - joint_max_acc: 180.0 + joint_max_acc: 300.0 move_to_initial_pose_on_connect: false initial_joint_pose: [-86.10, 22.80, -89.57, 93.98, -91.82, -87.32, -89.35] init_move_speed: 20 diff --git a/xr_rm_bringup/config/left_arm_rm75.yaml b/xr_rm_bringup/config/left_arm_rm75.yaml index 426b06f..6b11c8d 100644 --- a/xr_rm_bringup/config/left_arm_rm75.yaml +++ b/xr_rm_bringup/config/left_arm_rm75.yaml @@ -10,23 +10,23 @@ single_arm_velocity_teleop: feedback_resync_timeout_sec: 0.5 # 手柄相对位姿 -> 目标 TCP 位姿；随后做目标低通、姿态低通和单帧步长限制。 - scale: 1.0 + scale: 0.7 deadband_m: 0.001 target_filter_alpha: 0.65 target_filter_alpha_fast: 0.9 target_filter_fast_threshold_m: 0.03 - max_linear_speed: 0.3 + max_linear_speed: 0.15 enable_position_axes: [true, true, true] enable_orientation_control: true enable_orientation_axes: [true, true, true] orientation_deadband_rad: 0.005 orientation_filter_alpha: 0.65 max_orientation_speed: 0.5 - workspace_min: [-0.70, -0.60, 0.10] - 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 + workspace_min: [-0.70, -0.70, 0.10] + workspace_max: [0.70, 0.70, 0.75] + cyl_radius_limit: [0.10, 0.80] + low_z_threshold: 0.1 + low_z_min_radius: 0.1 # 映射关系：机器人位移增量 = [-手柄y, 手柄z, -手柄x]。 xr_to_robot_matrix: [0.0, -1.0, 0.0, @@ -38,7 +38,7 @@ single_arm_velocity_teleop: realtime_push_host_ip: 192.168.192.148 realtime_push_port: 8089 realtime_push_cycle_ms: 5 - avoid_singularity: 0 + avoid_singularity: 1 follow: false canfd_trajectory_mode: 2 canfd_radio: 0 @@ -47,12 +47,12 @@ single_arm_velocity_teleop: enable_trigger_gripper_control: true trigger_close_threshold: 0.95 configure_peripheral_on_connect: true - max_line_speed: 1.0 - max_angular_speed: 1.5 - max_line_acc: 1.0 - max_angular_acc: 2.0 + max_line_speed: 0.25 + max_angular_speed: 0.6 + max_line_acc: 1.3 + max_angular_acc: 3.0 joint_max_speed: 180.0 - joint_max_acc: 180.0 + joint_max_acc: 300.0 move_to_initial_pose_on_connect: false initial_joint_pose: [-78.81, 3.22, 67.96, 97.12, 95.08, -81.11, -74.55] init_move_speed: 20