YikaiFu-cart/acRealman_xr
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81 Commits 5 Branches 0 Tags
e60d620dfeafdf6afe75cc60e6fb70ebb804aded
Commit Graph
39 Commits
Author SHA1 Message Date
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 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 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 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 ba068b19a1 Add scissor mesh files for dual_rm75 model 2026-08-03 09:55:26 +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 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 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 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 33734524ed adjust initial pose of robotic arms 2026-07-14 17:20:50 +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 948d50cab4 Refactor and enhance XR-RM teleoperation functionality 2026-05-31 20:06:07 +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 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