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config：修改机械臂yaml文件

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YikaiFu-cart
2026-07-31 16:20:59 +08:00
parent 21c444dcc8
commit 75eff40fa2
3 changed files with 40 additions and 39 deletions
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xr_rm_bringup/config/dual_arm_rm75.yaml
+26 -26
View File
@@ -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
xr_rm_bringup/config/left_arm_rm75.yaml
+13 -13
View File
@@ -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