YikaiFu-cart/acRealman_xr
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config: 同步双臂 TCP 与前方工作空间

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YikaiFu-cart
2026-08-03 15:37:59 +08:00
parent 700d709fb1
commit 7edc28b44a
5 changed files with 47 additions and 7 deletions
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xr_rm_bringup/config/dual_arm_rm75.yaml
+2 -2
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@@ -29,7 +29,7 @@ left_arm_teleop:
orientation_filter_alpha: 0.65
max_orientation_speed: 0.5
workspace_min: [-0.70, -0.70, 0.10]
workspace_max: [0.70, 0.70, 0.75]
workspace_max: [0.70, 0.10, 0.75]
cyl_radius_limit: [0.10, 0.80]
low_z_threshold: 0.1
low_z_min_radius: 0.1
@@ -86,7 +86,7 @@ right_arm_teleop:
orientation_filter_alpha: 0.65
max_orientation_speed: 0.5
workspace_min: [-0.70, -0.70, 0.10]
workspace_max: [0.70, 0.70, 0.75]
workspace_max: [0.70, 0.10, 0.75]
cyl_radius_limit: [0.10, 0.80]
low_z_threshold: 0.1
low_z_min_radius: 0.1
xr_rm_bringup/config/left_arm_rm75.yaml
+1 -1
View File
@@ -23,7 +23,7 @@ single_arm_velocity_teleop:
orientation_filter_alpha: 0.65
max_orientation_speed: 0.5
workspace_min: [-0.70, -0.70, 0.10]
workspace_max: [0.70, 0.70, 0.75]
workspace_max: [0.70, 0.10, 0.75]
cyl_radius_limit: [0.10, 0.80]
low_z_threshold: 0.1
low_z_min_radius: 0.1
xr_rm_bringup/config/peripherals_rm75.yaml
+2 -2
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@@ -13,10 +13,10 @@ tools_in_ee:
# mass, center_x, center_y, center_z, reserved...
load: [0.66, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]
omnipic:
pose: [0.0, 0.0, 0.16, 0.0, 0.0, 0.0, 1.0]
pose: [0.0, 0.0, 0.14, 0.0, 0.0, 0.0, 1.0]
load: [0.43, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]
minisci:
pose: [0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0]
pose: [0.0, 0.0, 0.165, 0.0, 0.0, 0.0, 1.0]
load: [0.46, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]
no_tool:
pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]
xr_rm_bringup/config/right_arm_rm75.yaml
+1 -1
View File
@@ -22,7 +22,7 @@ single_arm_velocity_teleop:
orientation_filter_alpha: 0.65
max_orientation_speed: 0.5
workspace_min: [-0.70, -0.70, 0.10]
workspace_max: [0.70, 0.70, 0.75]
workspace_max: [0.70, 0.10, 0.75]
cyl_radius_limit: [0.10, 0.80]
low_z_threshold: 0.1
low_z_min_radius: 0.1