60 lines
2.0 KiB
YAML
60 lines
2.0 KiB
YAML
# 左臂单独调试配置：XR TCP 目标经 Placo QP 转换为 RM75 关节目标。
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# 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。
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single_arm_velocity_teleop:
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ros__parameters:
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arm_name: left_rm75
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controller_topic: /xr/left_controller
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control_rate_hz: 90.0
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command_timeout_sec: 0.12
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feedback_resync_timeout_sec: 0.5
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# 手柄相对位姿 -> 目标 TCP 位姿；随后做目标低通、姿态低通和单帧步长限制。
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scale: 0.7
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deadband_m: 0.001
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target_filter_alpha: 0.65
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target_filter_alpha_fast: 0.9
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target_filter_fast_threshold_m: 0.03
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max_linear_speed: 0.15
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enable_position_axes: [true, true, true]
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enable_orientation_control: true
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enable_orientation_axes: [true, true, true]
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orientation_deadband_rad: 0.005
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orientation_filter_alpha: 0.65
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max_orientation_speed: 0.5
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workspace_min: [-0.70, -0.70, 0.10]
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workspace_max: [0.70, 0.10, 0.75]
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cyl_radius_limit: [0.10, 0.80]
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low_z_threshold: 0.1
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low_z_min_radius: 0.1
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# 映射关系：机器人位移增量 = [-手柄y, 手柄z, -手柄x]。
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xr_to_robot_matrix: [0.0, -1.0, 0.0,
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0.0, 0.0, 1.0,
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-1.0, 0.0, 0.0]
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robot_ip: 192.168.192.18
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robot_port: 8080
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realtime_push_host_ip: 192.168.192.148
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realtime_push_port: 8089
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realtime_push_cycle_ms: 5
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avoid_singularity: 1
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follow: false
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canfd_trajectory_mode: 2
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canfd_radio: 0
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configure_safety_limits: true
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enable_tool_control: true
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enable_trigger_gripper_control: true
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trigger_close_threshold: 0.95
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configure_peripheral_on_connect: true
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max_line_speed: 0.25
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max_angular_speed: 0.6
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max_line_acc: 1.3
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max_angular_acc: 3.0
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joint_max_speed: 180.0
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joint_max_acc: 300.0
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move_to_initial_pose_on_connect: false
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initial_joint_pose: [-78.81, 3.22, 67.96, 97.12, 95.08, -81.11, -74.55]
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init_move_speed: 20
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debug_topic_prefix: /xr_rm
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