ZhengLiu-cart/acRealman_xr_from_Yikai
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dual arm control from sample_udp_sender.py

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YikaiFu-cart
2026-05-25 17:02:37 +08:00
parent 340bd9138d
commit 7551f1e8ea
18 changed files with 976 additions and 74 deletions
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13
xr_rm_bringup/config/dual_arm_rm75.yaml
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@ -23,13 +23,13 @@ left_arm_teleop:
kp_linear: 1.8
deadband_m: 0.002
low_pass_alpha: 0.35
max_linear_speed: 0.04
max_linear_speed: 0.12
enable_position_axes: [true, true, true]
# 来自 acDual-arm 的 bounds_p[left]：
# x[-0.50, 0.50]，y[-0.60, -0.20]，z[0.10, 0.50]。
workspace_min: [-0.50, -0.60, 0.10]
workspace_max: [0.50, -0.20, 0.50]
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.70, 0.40, 0.70]
cyl_radius_limit: [0.20, 0.60]
low_z_threshold: 0.20
low_z_min_radius: 0.21
@ -45,7 +45,7 @@ left_arm_teleop:
mock_initial_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
robot_ip: 192.168.192.18
robot_port: 8080
avoid_singularity: 1
avoid_singularity: 0
frame_type: 1
follow: false
configure_safety_limits: true
@ -60,6 +60,9 @@ left_arm_teleop:
initial_joint_pose: [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
initial_tcp_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
init_move_speed: 20
command_mode: pose_canfd
canfd_trajectory_mode: 2
canfd_radio: 0
debug_topic_prefix: /xr_rm
right_arm_teleop:
@ -73,7 +76,7 @@ right_arm_teleop:
kp_linear: 1.8
deadband_m: 0.002
low_pass_alpha: 0.35
max_linear_speed: 0.04
max_linear_speed: 0.12
enable_position_axes: [true, true, true]
# 来自 acDual-arm 的 bounds_p[right]：

11
xr_rm_bringup/config/left_arm_rm75.yaml
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@ -11,11 +11,11 @@ single_arm_velocity_teleop:
kp_linear: 1.8
deadband_m: 0.002
low_pass_alpha: 0.35
max_linear_speed: 0.04
max_linear_speed: 0.2
enable_position_axes: [true, true, true]
workspace_min: [-0.50, -0.60, 0.10]
workspace_max: [0.50, -0.20, 0.50]
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.70, 0.40, 0.70]
cyl_radius_limit: [0.20, 0.60]
low_z_threshold: 0.20
low_z_min_radius: 0.21
@ -28,7 +28,7 @@ single_arm_velocity_teleop:
mock_initial_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
robot_ip: 192.168.192.18
robot_port: 8080
avoid_singularity: 1
avoid_singularity: 0
frame_type: 1
follow: false
configure_safety_limits: true
@ -42,4 +42,7 @@ single_arm_velocity_teleop:
initial_joint_pose: [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
initial_tcp_pose: [-0.2562, -0.2765, 0.1489, -3.0190, -0.1010, 3.1400]
init_move_speed: 20
command_mode: pose_canfd
canfd_trajectory_mode: 2
canfd_radio: 0
debug_topic_prefix: /xr_rm

4
xr_rm_bringup/config/right_arm_rm75.yaml
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@ -11,11 +11,11 @@ single_arm_velocity_teleop:
kp_linear: 1.8
deadband_m: 0.002
low_pass_alpha: 0.35
max_linear_speed: 0.04
max_linear_speed: 0.2
enable_position_axes: [true, true, true]
workspace_min: [-0.70, -0.60, 0.10]
workspace_max: [0.50, 0.40, 0.70]
workspace_max: [0.70, 0.40, 0.70]
cyl_radius_limit: [0.20, 0.60]
low_z_threshold: 0.20
low_z_min_radius: 0.21