forked from YikaiFu-cart/acRealman_xr
Add configuration files and launch scripts for left and right arm RM75 teleoperation
This commit is contained in:
@ -3,7 +3,7 @@
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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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# - 左右臂工作空间和 IP 沿用最新 acDual-arm 配置。
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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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@ -30,6 +30,9 @@ left_arm_teleop:
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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: [-0.50, -0.60, 0.10]
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workspace_max: [0.50, -0.20, 0.50]
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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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@ -39,12 +42,25 @@ left_arm_teleop:
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1.0, 0.0, 0.0]
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use_mock: false
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mock_initial_pose: [-0.1560, -0.3476, 0.2689, -3.1100, -0.2840, -1.3180]
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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: 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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# 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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debug_topic_prefix: /xr_rm
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right_arm_teleop:
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ros__parameters:
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@ -60,9 +76,13 @@ right_arm_teleop:
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max_linear_speed: 0.04
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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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workspace_min: [-0.50, -0.60, 0.10]
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workspace_max: [0.50, -0.20, 0.50]
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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: [0.50, 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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@ -72,23 +92,21 @@ right_arm_teleop:
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-1.0, 0.0, 0.0]
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use_mock: false
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mock_initial_pose: [0.1924, -0.3025, 0.2923, 3.0560, 0.1310, 0.9070]
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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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right_omnipicker_trigger_bridge:
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ros__parameters:
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# 阶段一只使用右手两指夹爪；右手扳机键输出归一化力控指令。
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controller_topic: /xr/right_controller
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command_topic: /omnipicker/right/force_ratio
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publish_rate_hz: 30.0
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stale_timeout_sec: 0.25
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require_grip: true
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trigger_deadband: 0.05
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open_command: 0.0
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min_close_command: 0.15
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max_close_command: 0.45
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low_pass_alpha: 0.5
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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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45
xr_rm_bringup/config/left_arm_rm75.yaml
Normal file
45
xr_rm_bringup/config/left_arm_rm75.yaml
Normal file
@ -0,0 +1,45 @@
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# 左臂单独调试配置：无末端执行器，仅 XR 相对位移控制 RM75 TCP。
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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: 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: 0.04
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enable_position_axes: [true, true, true]
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workspace_min: [-0.50, -0.60, 0.10]
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workspace_max: [0.50, -0.20, 0.50]
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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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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: 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: [-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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45
xr_rm_bringup/config/right_arm_rm75.yaml
Normal file
45
xr_rm_bringup/config/right_arm_rm75.yaml
Normal file
@ -0,0 +1,45 @@
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# 右臂单独调试配置：无末端执行器，仅 XR 相对位移控制 RM75 TCP。
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single_arm_velocity_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: 0.04
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enable_position_axes: [true, true, true]
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workspace_min: [-0.70, -0.60, 0.10]
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workspace_max: [0.50, 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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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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@ -15,8 +15,11 @@ single_arm_velocity_teleop:
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max_linear_speed: 0.04
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enable_position_axes: [true, true, true]
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workspace_min: [-0.50, -0.60, 0.10]
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workspace_max: [0.50, -0.20, 0.50]
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workspace_min: [-0.70, -0.60, 0.10]
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workspace_max: [0.50, 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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# 右臂 PICO/OpenXR 相对位移到 RM75 base 坐标的初始映射：
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# 机器人位移增量 = [手柄y, -手柄z, -手柄x]。
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@ -25,9 +28,21 @@ single_arm_velocity_teleop:
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-1.0, 0.0, 0.0]
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use_mock: false
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mock_initial_pose: [0.1924, -0.3025, 0.2923, 3.0560, 0.1310, 0.9070]
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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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