feat: Enhance single arm velocity teleoperation with zero velocity handling and new parameters

2026-05-26 13:51:15 +08:00
parent e57890cb11
commit f137e28ed7
9 changed files with 933 additions and 67 deletions
--- a/xr_rm_bringup/config/left_arm_rm75.yaml
+++ b/xr_rm_bringup/config/left_arm_rm75.yaml
@ -20,9 +20,10 @@ single_arm_velocity_teleop:
    low_z_threshold: 0.20
    low_z_min_radius: 0.21

+    # 现场模拟 XR 调试确认 X/Z 轴符号与原标定相反，因此翻转手柄 X、Z 两列。
    xr_to_robot_matrix: [0.0, -1.0, 0.0,
-                         0.0, 0.0, -1.0,
-                         1.0, 0.0, 0.0]
+                         0.0, 0.0, 1.0,
+                         -1.0, 0.0, 0.0]

    use_mock: false
    mock_initial_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]