YikaiFu-cart/acRealman_xr
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YikaiFu-cart 79e7c12989 docs: 更新ACT相机预览说明 2026-08-13 22:19:22 +08:00
YikaiFu-cart 235ba61454 feat: 添加ACT双相机实时预览 2026-08-13 22:18:32 +08:00
YikaiFu-cart 676b33bfe4 fix: 修正ACT相机采样质量判定 2026-08-13 22:12:23 +08:00
YikaiFu-cart 8329c6a44d docs: 规划ACT相机预览与质量判定修正 2026-08-13 22:09:53 +08:00
YikaiFu-cart 94e1bf9467 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
YikaiFu-cart 2d89fe1820 feat: 更新.gitignore和README.md 2026-08-11 12:40:16 +08:00
YikaiFu-cart e20c5a983e fix: 拒绝ACT episode编号冲突 2026-08-10 18:26:38 +08:00
YikaiFu-cart 6982620041 feat: 接入番茄采摘ACT采集启动项 2026-08-10 18:24:02 +08:00
YikaiFu-cart 6008e34b5d feat: 集成ACT episode采集节点 2026-08-10 18:22:35 +08:00
YikaiFu-cart c1ea1a2816 feat: 校验ACT episode数据质量 2026-08-10 18:14:10 +08:00
YikaiFu-cart 40be5560ee feat: 流式保存ACT HDF5数据 2026-08-10 18:11:32 +08:00
YikaiFu-cart 1ec74f107b feat: 对齐ACT双相机帧 2026-08-10 18:06:45 +08:00
YikaiFu-cart deeee076d7 feat: 添加ACT录制状态机 2026-08-10 18:03:25 +08:00
YikaiFu-cart e60d620dfe feat: 发布同周期ACT控制样本 2026-08-10 18:01:05 +08:00
YikaiFu-cart 043d3d0533 feat: 记录夹爪逻辑执行状态 2026-08-10 17:57:07 +08:00
YikaiFu-cart 7b2caf3012 feat: 添加ACT原子控制消息 2026-08-10 17:54:45 +08:00
YikaiFu-cart c62d69e9ab docs: 添加ACT数据采集规格与计划 2026-08-10 17:30:05 +08:00
YikaiFu-cart f6b484d168 feat: 添加多摄像头测试工具，支持实时预览和快照功能 2026-08-06 15:01:17 +08:00
YikaiFu-cart bb672e3f39 fix: 修改 RealManAdapter 中对机械臂的引用，确保正确获取关节状态 2026-08-05 15:59:06 +08:00
YikaiFu-cart 43699a81f1 fix: 修复mujoco仿真里左臂剪刀安装位置与实际位置不同 2026-08-04 20:53:26 +08:00
YikaiFu-cart 5a6ec47e6c fix: 更新 README 和配置文件，调整模式和工具设置 2026-08-04 18:11:19 +08:00
YikaiFu-cart b24165640d fix: 阻止重复遥操作节点继续运行 2026-08-04 14:36:16 +08:00
YikaiFu-cart 1fefae34e5 fix: 完善 MuJoCo 退出与测试环境 2026-08-04 13:58:35 +08:00
YikaiFu-cart 9c47c94c79 docs: 补充双臂 MuJoCo 使用说明 2026-08-04 13:46:54 +08:00
YikaiFu-cart 0dfe3d77dc fix: 安全关闭 MuJoCo 显示窗口 2026-08-04 13:46:31 +08:00
YikaiFu-cart 002484b610 feat: 接入双臂 MuJoCo 启动模式 2026-08-04 13:37:31 +08:00
YikaiFu-cart 826b929d97 feat: 添加双臂 MuJoCo 显示节点 2026-08-04 13:36:39 +08:00
YikaiFu-cart f5790a8c77 feat: 支持 MuJoCo 双臂即时复位 2026-08-04 13:34:27 +08:00
YikaiFu-cart c1bc56fe09 test: 补充关节状态发布夹具 2026-08-04 13:33:06 +08:00
YikaiFu-cart 9a00898be3 feat: 发布双臂关节状态与目标 2026-08-04 13:31:52 +08:00
YikaiFu-cart 631e3ee11c feat: 添加双臂 MuJoCo 运动学模型 2026-08-04 13:30:20 +08:00
YikaiFu-cart 1df09fef63 docs: 添加双臂 MuJoCo 设计与计划 2026-08-04 11:42:07 +08:00
YikaiFu-cart 36f82fe2db docs: 更新双 RM75 逆解说明 2026-08-03 16:53:26 +08:00
YikaiFu-cart 56baabae7a feat: 接入双 RM75 逆解模型 2026-08-03 16:33:57 +08:00
YikaiFu-cart 451de103b8 feat: 使用双 RM75 局部相对逆解 2026-08-03 16:08:07 +08:00
YikaiFu-cart 99cb45ef6d test: 强化双臂逆解测试边界 2026-08-03 16:00:33 +08:00
YikaiFu-cart a9c605c804 test: 修正双臂 offset 断言 2026-08-03 15:52:35 +08:00
YikaiFu-cart 2d197a8928 test: 添加双 RM75 逆解回归 2026-08-03 15:49:58 +08:00
YikaiFu-cart 7edc28b44a config: 同步双臂 TCP 与前方工作空间 2026-08-03 15:37:59 +08:00
YikaiFu-cart 700d709fb1 docs: 添加双 RM75 逆解设计与计划 2026-08-03 14:24:09 +08:00
YikaiFu-cart ba068b19a1 Add scissor mesh files for dual_rm75 model 2026-08-03 09:55:26 +08:00
YikaiFu-cart 75eff40fa2 config：修改机械臂yaml文件 2026-07-31 16:20:59 +08:00
YikaiFu-cart 21c444dcc8 config: 更新左右臂初始位姿 2026-07-31 15:32:06 +08:00
YikaiFu-cart 4e068ce637 feat: 添加手柄主键回初始位姿 2026-07-31 15:31:35 +08:00
YikaiFu-cart 5267da14c2 feat: 复用适配器初始位姿运动 2026-07-31 15:30:20 +08:00
YikaiFu-cart 3981c380ea docs: 修正遥操作测试命令 2026-07-31 15:29:22 +08:00
YikaiFu-cart 80e823c097 docs: 添加手柄主键回位实施计划 2026-07-31 15:24:59 +08:00
YikaiFu-cart b7eab7cc76 docs: 补充左右臂初始位姿 2026-07-31 15:18:47 +08:00
YikaiFu-cart cf559f6d25 docs: 添加手柄主键回位设计 2026-07-31 15:08:15 +08:00
YikaiFu-cart d26ce7b945 docs: 更新手柄输入与 Superpowers 规则 2026-07-30 20:29:03 +08:00
YikaiFu-cart 1936adf2fd feat: 发布 XR 手柄摇杆与按键 2026-07-30 20:24:28 +08:00
YikaiFu-cart cbc18bed8a feat: 扩展 XR 手柄消息 2026-07-30 20:22:10 +08:00
YikaiFu-cart d84393f5cb docs: 添加手柄输入扩展实施计划 2026-07-30 20:13:47 +08:00
YikaiFu-cart 378ba05be8 docs: 添加手柄输入扩展设计 2026-07-30 20:05:07 +08:00
YikaiFu-cart bbfb306903 docs: 记录 RM75 QP 与 UDP 修复计划 2026-07-30 18:14:47 +08:00
YikaiFu-cart 4d8a9b7724 fix: 补充 RM75 UDP 超时反馈年龄 2026-07-30 18:13:43 +08:00
YikaiFu-cart d043f2709d fix: 修正 RM75 UDP 上报周期单位 2026-07-30 18:13:03 +08:00
YikaiFu-cart 84c96d7cf8 fix: 放宽 RM75 QP 位置收敛阈值 2026-07-30 18:12:14 +08:00
YikaiFu-cart 0df9e9bcfc docs: 记录 RM75 QP 与 UDP 周期修复设计 2026-07-30 18:04:49 +08:00
YikaiFu-cart 4f6981d08b fix: 修复 RM75 关节目标越界振荡 2026-07-30 10:43:11 +08:00
YikaiFu-cart 2c128c1f54 每周期单步QP改为有界迭代QP 2026-07-30 09:49:39 +08:00
YikaiFu-cart 6d22d5600a feat: Implement RM75 joint feedback and fault recovery design 2026-07-29 19:39:12 +08:00
YikaiFu-cart f795c06d44 Remove outdated design documents for RM75 control and feedback systems 2026-07-29 16:24:07 +08:00
YikaiFu-cart 08996434e5 feat: Implement UDP feedback for RM75 robot arms 2026-07-29 15:26:59 +08:00
YikaiFu-cart 687a0b401a feat: Implement absolute scheduling for feedback loop and enhance tool frame configuration 2026-07-29 09:44:51 +08:00
YikaiFu-cart 2a12eea4d5 Add URDF model for RM75-B OmniPicker with detailed link and joint specifications 2026-07-28 17:06:06 +08:00
YikaiFu-cart fae5a560fb Add Placo IK solver and associated tests. 2026-07-28 10:47:49 +08:00
YikaiFu-cart bfd50e1035 feat: add RM75 Placo single-step QP inverse kinematics design document 2026-07-27 19:30:30 +08:00
YikaiFu-cart 33734524ed adjust initial pose of robotic arms 2026-07-14 17:20:50 +08:00
YikaiFu-cart 8aed1687f3 add AGENTS.md 2026-07-13 11:32:38 +08:00
YikaiFu-cart 96b9014b7f feat: Update terminal scroll line settings, disable infinite scrolling 2026-06-25 22:31:43 +08:00
YikaiFu-cart fe29acebc2 adjust .md file 2026-06-25 10:18:38 +08:00
YikaiFu-cart f0c955ae66 feat: Add XRobotoolkit UDP bridge functionality 2026-06-24 21:18:18 +08:00
YikaiFu-cart f4e0faf0bc refactor project(doc) structure 2026-06-22 10:54:44 +08:00
YikaiFu-cart 07517e0c49 Enhance orientation control for RM75 arms in XR teleoperation 2026-06-09 14:50:04 +08:00
YikaiFu-cart 7f8ebefadc update trigger control logic 2026-06-08 15:48:51 +08:00
YikaiFu-cart d103439f01 Enhanced gripper control functionality 2026-06-08 14:30:08 +08:00
YikaiFu-cart 3fc8024648 optimze unity project for xr_rm 2026-06-03 14:16:52 +08:00
YikaiFu-cart 9260e46b3c Refactor code structure for improved readability and maintainability 2026-06-01 18:23:19 +08:00
YikaiFu-cart 948d50cab4 Refactor and enhance XR-RM teleoperation functionality 2026-05-31 20:06:07 +08:00
YikaiFu-cart 3f48468f63 update report files 2026-05-31 16:08:07 +08:00
YikaiFu-cart f4ee53d9c3 add unity doc. 2026-05-30 16:04:37 +08:00
YikaiFu-cart ce52895ec2 update docs 2026-05-29 12:32:43 +08:00
YikaiFu-cart 11ad6c55f4 update pico.md 2026-05-27 14:35:55 +08:00
YikaiFu-cart fe3d80cd86 feat: add peripherals control 2026-05-26 18:16:08 +08:00
YikaiFu-cart f137e28ed7 feat: Enhance single arm velocity teleoperation with zero velocity handling and new parameters 2026-05-26 13:51:15 +08:00
YikaiFu-cart e57890cb11 refactor launch_ui.py and update README.md 2026-05-25 18:22:59 +08:00
YikaiFu-cart 7551f1e8ea dual arm control from sample_udp_sender.py 2026-05-25 17:02:37 +08:00
YikaiFu-cart 340bd9138d Add detailed project prompt for XR-RM75 dual-arm teleoperation ROS2 project 2026-05-22 13:24:30 +08:00
YikaiFu-cart de4cbdb6be optimize launcher_ui.py 2026-05-22 11:16:04 +08:00
YikaiFu-cart 58fd44b415 remove unnecessity files 2026-05-21 17:39:42 +08:00
YikaiFu-cart 4dea1ae530 Add configuration files and launch scripts for left and right arm RM75 teleoperation 2026-05-21 17:25:59 +08:00
YikaiFu-cart 5a48619599 initial 2026-05-20 14:17:43 +08:00
YikaiFu-cart 1c83dfb033 Initial commit 2026-05-20 14:13:03 +08:00