119 lines
4.3 KiB
YAML
Executable File
119 lines
4.3 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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# 参数来源：acDual-arm-YikaiFuTest/realman_pkg/core/arg_cfg.py
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# - 左臂 IP：192.168.192.18
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# - 右臂 IP：192.168.192.19
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# - 左右臂工作空间、圆柱半径约束、初始化点位和 IP 沿用最新 acRealman 配置。
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# - PICO 手柄位移映射根据论文 OpenXR 坐标和现场双臂 base 坐标图单独设置。
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#
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# 注意：当前项目仍然采用“手柄相对位移”控制方式。
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# 按下握持键时锁定当前手柄位姿和 TCP 位姿，之后只跟随相对位移。
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# acDual-arm 项目使用的是戴盟绝对 PoseStamped 重映射，因此这里只迁移
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# 坐标标定和安全参数，不迁移其绝对位姿控制链路。
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# 末端外设由 peripherals_rm75.yaml 配置，launch 只在真机连接阶段初始化。
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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: 50.0
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command_timeout_sec: 0.12
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# 实验台番茄测试先采用保守参数；完成三轴方向检查和实体急停测试后再提高速度。
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scale: 0.75
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kp_linear: 1.8
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deadband_m: 0.002
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low_pass_alpha: 0.35
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max_linear_speed: 0.2
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enable_position_axes: [true, true, true]
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# 来自 acDual-arm 的 bounds_p[left]：
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# x[-0.50, 0.50]，y[-0.60, -0.20]，z[0.10, 0.50]。
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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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# 左臂 base 坐标：+X 向下，+Z 向右，前方工作区对应 -Y。
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# 现场模拟 XR 调试确认 X/Z 轴符号与原标定相反。
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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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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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# 真机 launch 默认不自动移动；需要沿用 acRealman 上电初始化时再显式打开。
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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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command_mode: pose_canfd
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canfd_trajectory_mode: 2
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canfd_radio: 0
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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: 50.0
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command_timeout_sec: 0.12
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scale: 0.75
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kp_linear: 1.8
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deadband_m: 0.002
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low_pass_alpha: 0.35
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max_linear_speed: 0.2
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enable_position_axes: [true, true, true]
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# 来自 acDual-arm 的 bounds_p[right]：
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# x[-0.70, 0.50]，y[-0.60, 0.40]，z[0.10, 0.70]。
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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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# 右臂 base 坐标：+X 向上，+Z 向左，前方工作区对应 -Y。
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# 现场模拟 XR 调试确认 X/Z 轴符号与原标定相反。
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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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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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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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