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add unity doc.

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YikaiFu-cart
2026-05-30 16:04:37 +08:00
parent ce52895ec2
commit f4ee53d9c3
1538 changed files with 221228 additions and 2192 deletions
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12
xr_rm_bringup/config/right_arm_rm75.yaml
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@ -8,18 +8,18 @@ single_arm_velocity_teleop:
control_rate_hz: 50.0
command_timeout_sec: 0.12
scale: 0.75
scale: 1.0
kp_linear: 1.8
deadband_m: 0.002
low_pass_alpha: 0.35
max_linear_speed: 0.2
low_pass_alpha: 0.7
max_linear_speed: 0.5
enable_position_axes: [true, true, true]
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
cyl_radius_limit: [0.10, 0.70]
low_z_threshold: 0.1
low_z_min_radius: 0.1
# 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,