130 lines
4.4 KiB
YAML
Executable File
130 lines
4.4 KiB
YAML
Executable File
# 阶段一：PICO 遥操作双 RM75 平台配置。
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#
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# 当前控制方式是“相对位姿透传”：
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# 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
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# 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
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# 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，
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# 不是机械臂执行命令。
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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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left_arm_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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# 位姿目标生成与平滑参数。
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scale: 0.75
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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: 0.2
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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: 0.6
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current_pose_poll_hz: 10.0
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workspace_min: [-0.70, -0.60, 0.10]
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workspace_max: [0.70, 0.40, 0.70]
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cyl_radius_limit: [0.20, 0.60]
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low_z_threshold: 0.20
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low_z_min_radius: 0.21
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# PICO/OpenXR 位置坐标：+X 向右，+Y 向上，+Z 向后。
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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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use_mock: false
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mock_initial_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
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robot_ip: 192.168.192.18
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robot_port: 8080
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avoid_singularity: 0
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frame_type: 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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max_line_speed: 1.0
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max_angular_speed: 1.5
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max_line_acc: 1.0
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max_angular_acc: 2.0
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joint_max_speed: 180.0
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joint_max_acc: 180.0
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# QP 内部正则与单次迭代步长。较小的 motion weight 会让对应关节更积极参与。
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qp_w_limit_mid: 0.00002
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qp_joint_motion_weights: [0.3, 0.3, 0.5, 1.0, 1.0, 1.0, 1.0]
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qp_joint_step_limits_rad: [0.10, 0.08, 0.08, 0.05, 0.05, 0.05, 0.05]
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move_to_initial_pose_on_connect: false
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initial_joint_pose: [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
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initial_tcp_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
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init_move_speed: 20
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debug_topic_prefix: /xr_rm
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right_arm_teleop:
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ros__parameters:
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arm_name: right_rm75
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controller_topic: /xr/right_controller
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control_rate_hz: 90.0
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command_timeout_sec: 0.12
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scale: 0.75
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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: 0.2
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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: 0.6
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current_pose_poll_hz: 10.0
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workspace_min: [-0.70, -0.60, 0.10]
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workspace_max: [0.70, 0.40, 0.70]
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cyl_radius_limit: [0.20, 0.60]
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low_z_threshold: 0.20
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low_z_min_radius: 0.21
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# PICO/OpenXR 位置坐标：+X 向右，+Y 向上，+Z 向后。
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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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use_mock: false
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mock_initial_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
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robot_ip: 192.168.192.19
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robot_port: 8080
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avoid_singularity: 1
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frame_type: 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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max_line_speed: 1.0
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max_angular_speed: 1.5
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max_line_acc: 1.0
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max_angular_acc: 2.0
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joint_max_speed: 180.0
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joint_max_acc: 180.0
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# 与左臂采用相同初值，保留独立配置入口便于后续分别调参。
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qp_w_limit_mid: 0.00002
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qp_joint_motion_weights: [0.3, 0.3, 0.5, 1.0, 1.0, 1.0, 1.0]
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qp_joint_step_limits_rad: [0.10, 0.08, 0.08, 0.05, 0.05, 0.05, 0.05]
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move_to_initial_pose_on_connect: false
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initial_joint_pose: [-25.60, 34.09, -19.55, 71.59, 16.97, 80.98, 59.67]
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initial_tcp_pose: [0.2663, -0.2606, 0.1027, 3.0330, 0.0000, 1.0910]
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init_move_speed: 20
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debug_topic_prefix: /xr_rm
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