config：修改机械臂yaml文件

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