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Add Placo IK solver and associated tests.

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YikaiFu-cart
2026-07-28 10:47:49 +08:00
parent bfd50e1035
commit fae5a560fb
24 changed files with 1351 additions and 242 deletions
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xr_rm_bringup/config/dual_arm_rm75.yaml
+3 -11
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@@ -1,10 +1,10 @@
# 阶段一：PICO 遥操作双 RM75 平台配置。
#
# 当前控制方式是“相对位姿透传”：
# 当前控制方式是“相对 TCP + 单步 QP”：
# 按下 grip 时锁定当前手柄位姿和 TCP 位姿，之后将手柄相对位移和相对旋转
# 映射为目标 TCP 位姿，经过工作空间限幅、目标低通、姿态低通和单帧步长
# 限制后，通过 rm_movep_canfd 下发。cmd_vel 仅作为目标位姿变化率调试话题，
# 不是机械臂执行命令。
# 限制后，通过 Placo 单步 QP 和 rm_movej_canfd 下发 7 个关节目标。
# cmd_vel 仅作为目标位姿变化率调试话题，不是机械臂执行命令。
# 末端外设由 peripherals_rm75.yaml 配置，真机连接阶段初始化后由遥操作节点复用。
left_arm_teleop:
@@ -27,8 +27,6 @@ left_arm_teleop:
orientation_deadband_rad: 0.005
orientation_filter_alpha: 0.65
max_orientation_speed: 0.6
current_pose_poll_hz: 10.0
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.70, 0.40, 0.70]
cyl_radius_limit: [0.20, 0.60]
@@ -42,11 +40,9 @@ left_arm_teleop:
-1.0, 0.0, 0.0]
use_mock: false
mock_initial_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
robot_ip: 192.168.192.18
robot_port: 8080
avoid_singularity: 0
frame_type: 1
follow: false
canfd_trajectory_mode: 2
canfd_radio: 0
@@ -81,8 +77,6 @@ right_arm_teleop:
orientation_deadband_rad: 0.005
orientation_filter_alpha: 0.65
max_orientation_speed: 0.6
current_pose_poll_hz: 10.0
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.70, 0.40, 0.70]
cyl_radius_limit: [0.20, 0.60]
@@ -96,11 +90,9 @@ right_arm_teleop:
1.0, 0.0, 0.0]
use_mock: false
mock_initial_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
robot_ip: 192.168.192.19
robot_port: 8080
avoid_singularity: 1
frame_type: 1
follow: false
canfd_trajectory_mode: 2
canfd_radio: 0
xr_rm_bringup/config/left_arm_rm75.yaml
+2 -6
View File
@@ -1,4 +1,4 @@
# 左臂单独调试配置：XR 相对位姿透传控制 RM75 TCP。
# 左臂单独调试配置：XR TCP 目标经 Placo QP 转换为 RM75 关节目标。
# 末端外设由 peripherals_rm75.yaml 配置，真机连接阶段初始化后由遥操作节点复用。
single_arm_velocity_teleop:
@@ -21,8 +21,6 @@ single_arm_velocity_teleop:
orientation_deadband_rad: 0.005
orientation_filter_alpha: 0.65
max_orientation_speed: 0.6
current_pose_poll_hz: 10.0
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.70, 0.40, 0.70]
cyl_radius_limit: [0.20, 0.60]
@@ -35,11 +33,9 @@ single_arm_velocity_teleop:
-1.0, 0.0, 0.0]
use_mock: false
mock_initial_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
robot_ip: 192.168.192.18
robot_port: 8080
avoid_singularity: 0
frame_type: 1
follow: false
canfd_trajectory_mode: 2
canfd_radio: 0
@@ -50,7 +46,7 @@ single_arm_velocity_teleop:
max_angular_acc: 2.0
joint_max_speed: 180.0
joint_max_acc: 180.0
move_to_initial_pose_on_connect: true
move_to_initial_pose_on_connect: false
initial_joint_pose: [-79.55, -9.99, 71.01, 101.45, 95.07, -84.47, -74.52]
init_move_speed: 20
debug_topic_prefix: /xr_rm
xr_rm_bringup/config/right_arm_rm75.yaml
+7 -11
View File
@@ -1,4 +1,4 @@
# 右臂单独调试配置：XR 相对位姿透传控制 RM75 TCP。
# 右臂单独调试配置：XR TCP 目标经 Placo QP 转换为 RM75 关节目标。
# 末端外设由 peripherals_rm75.yaml 配置，真机连接阶段初始化后由遥操作节点复用。
single_arm_velocity_teleop:
@@ -20,8 +20,6 @@ single_arm_velocity_teleop:
orientation_deadband_rad: 0.005
orientation_filter_alpha: 0.65
max_orientation_speed: 0.5
current_pose_poll_hz: 10.0
workspace_min: [-0.60, -0.60, 0.10]
workspace_max: [0.60, 0.70, 0.55]
cyl_radius_limit: [0.10, 0.70]
@@ -34,22 +32,20 @@ single_arm_velocity_teleop:
1.0, 0.0, 0.0]
use_mock: false
mock_initial_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
robot_ip: 192.168.192.19
robot_port: 8080
avoid_singularity: 1
frame_type: 1
follow: false
canfd_trajectory_mode: 2
canfd_radio: 0
configure_safety_limits: true
max_line_speed: 1.0
max_angular_speed: 1.5
max_line_acc: 1.0
max_angular_acc: 2.0
max_line_speed: 0.25
max_angular_speed: 0.6
max_line_acc: 1.3
max_angular_acc: 3.0
joint_max_speed: 180.0
joint_max_acc: 180.0
move_to_initial_pose_on_connect: true
joint_max_acc: 300.0
move_to_initial_pose_on_connect: True
initial_joint_pose: [-90.14, 3.76, -86.89, 87.89, -96.53, -79.62, -90.04]
init_move_speed: 20
debug_topic_prefix: /xr_rm