feat: 更新右臂和左臂配置，禁用奇异性避免；增强ACT数据采集功能，添加日志记录

2026-08-13 16:58:54 +08:00
parent 2d89fe1820
commit 94e1bf9467
7 changed files with 102 additions and 14 deletions
@@ -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: 1
+    avoid_singularity: 0
    follow: false
    canfd_trajectory_mode: 2
    canfd_radio: 0
@@ -102,7 +102,7 @@ right_arm_teleop:
    realtime_push_host_ip: 192.168.192.148
    realtime_push_port: 8090
    realtime_push_cycle_ms: 5
-    avoid_singularity: 1
+    avoid_singularity: 0
    follow: false
    canfd_trajectory_mode: 2
    canfd_radio: 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: 1
+    avoid_singularity: 0
    follow: false
    canfd_trajectory_mode: 2
    canfd_radio: 0
@@ -37,7 +37,7 @@ single_arm_velocity_teleop:
    realtime_push_host_ip: 192.168.192.148
    realtime_push_port: 8090
    realtime_push_cycle_ms: 5
-    avoid_singularity: 1
+    avoid_singularity: 0
    # 厂商 MovejCANFD 示例默认低跟随；高跟随仅在验证规划轨迹后单独开启。
    follow: false
    canfd_trajectory_mode: 2