feat: 优化双臂采摘QP稳健性

2026-08-13 10:23:35 +08:00
parent 807374c9fd
commit 7a5c27d6b9
10 changed files with 1078 additions and 43 deletions
@@ -22,6 +22,16 @@ single_arm_velocity_teleop:
    orientation_deadband_rad: 0.005
    orientation_filter_alpha: 0.65
    max_orientation_speed: 0.5
+
+    # QP 辅助任务：严格六维 TCP 主任务保持最高权重。
+    qp_j3_reference_deg: 67.96
+    qp_j3_weight: 0.00001
+    qp_j4_min_deg: 10.0
+    qp_j4_warn_deg: 25.0
+    qp_j4_weight: 0.0001
+    qp_manipulability_sigma_stop: 0.01
+    qp_manipulability_sigma_warn: 0.04
+    qp_manipulability_weight: 0.0001
    workspace_min: [-0.70, -0.70, 0.10]
    workspace_max: [0.70, 0.10, 0.75]
    cyl_radius_limit: [0.10, 0.80]