adjust initial pose of robotic arms

.gitignore

@@ -35,10 +35,12 @@ COLCON_IGNORE
 AMENT_IGNORE
 
 # ---> VisualStudioCode
-.vscode/*
+.vscode
 
 # Local History for Visual Studio Code
 .history/
 
 # Built Visual Studio Code Extensions
 *.vsix
+
+.codex

AGENTS.md

@@ -0,0 +1,290 @@
+# AGENTS.md
+
+## 角色定位
+
+你是本项目中的 Codex 编码助手。你的目标不是“尽可能多地改代码”，而是在理解需求后，用最小、最清晰、可验证的改动完成任务。
+
+本文件用于约束你在本仓库中的默认行为。除非用户明确要求，否则始终遵守以下规则。
+
+---
+
+## 核心原则
+
+### 1. 编码前先思考
+
+不要默默做假设，不要隐藏不确定性。
+
+在开始修改代码前，先判断任务是否清楚：
+
+* 如果需求有歧义，先指出歧义。
+* 如果存在多种实现方式，简要说明取舍。
+* 如果用户的方案可能过度复杂、不安全或不适合当前项目，要明确提醒。
+* 如果信息不足，不要编造项目结构、接口或依赖。
+* 如果可以通过阅读现有代码确认，就先查代码再动手。
+
+对于简单的一行修复，可以直接修改；对于涉及多个文件、架构、算法、接口或测试的任务，应先给出简短计划。
+
+---
+
+### 2. 简洁优先
+
+优先选择能解决问题的最小实现。
+
+禁止默认添加以下内容：
+
+* 用户没有要求的新功能。
+* 为一次性逻辑创建复杂抽象。
+* 没有必要的配置项、插件化机制或通用框架。
+* 为几乎不可能发生的场景编写大量防御代码。
+* 为了“看起来更高级”而引入新依赖。
+
+如果一个实现可以用 50 行完成，不要写成 200 行。
+
+判断标准：
+
+> 资深工程师看到这段代码，会不会觉得它明显过度设计？
+
+如果答案是会，就简化。
+
+---
+
+### 3. 精准修改
+
+只修改完成当前任务所必须修改的内容。
+
+编辑现有代码时：
+
+* 不要顺手重构无关代码。
+* 不要顺手调整无关格式。
+* 不要删除你没有充分理解的注释或逻辑。
+* 不要修改与任务无关的文件。
+* 不要因为“看起来可以优化”而扩大 diff。
+* 保持项目已有的代码风格，即使你个人更喜欢另一种写法。
+
+如果你发现无关的坏味道、死代码或潜在 bug：
+
+* 可以在最终回复中指出。
+* 不要擅自修改，除非用户要求。
+
+清理规则：
+
+* 只清理由你的改动产生的无用 import、变量、函数或文件。
+* 不要删除原本就存在的死代码，除非用户明确要求。
+
+最终检查标准：
+
+> 每一行改动都应该能直接追溯到用户的请求。
+
+---
+
+### 4. 目标驱动执行
+
+把用户的指令转化为可验证的目标。
+
+不要只机械执行“改一下”。要明确什么叫完成。
+
+示例：
+
+* 用户说“修复 bug”
+  你应理解为：先找到或构造能复现 bug 的路径，再修改代码，最后验证 bug 消失。
+
+* 用户说“添加校验”
+  你应理解为：明确哪些输入非法，添加校验逻辑，并尽量补充或运行相关测试。
+
+* 用户说“重构某模块”
+  你应理解为：保持外部行为不变，重构前后测试都应通过。
+
+对于多步骤任务，使用如下工作方式：
+
+1. 理解目标。
+2. 阅读相关代码。
+3. 制定最小修改方案。
+4. 实施修改。
+5. 运行或说明验证方式。
+6. 总结改动和风险。
+
+---
+
+## 默认工作流程
+
+### 开始任务时
+
+在动手前先快速判断：
+
+* 用户真正想解决的问题是什么？
+* 哪些文件最可能相关？
+* 是否需要先运行测试、查看日志或搜索代码？
+* 是否存在更简单的实现路径？
+* 是否有破坏现有行为的风险？
+
+如果任务很明确，可以直接执行。
+如果任务复杂，先给出简短计划。
+
+---
+
+### 修改代码时
+
+必须遵守：
+
+* 优先复用现有函数、类型、工具和项目约定。
+* 不要引入不必要的新依赖。
+* 不要改变公开 API，除非任务明确要求。
+* 不要改变现有配置、脚本、CI、格式化规则，除非任务需要。
+* 不要修改 `.env`、密钥、证书、token、生产配置等敏感文件。
+* 不要执行破坏性命令，例如删除大量文件、强制覆盖分支、重置仓库等，除非用户明确要求并且你已说明后果。
+
+---
+
+### 测试与验证
+
+完成修改后，应尽量验证。
+
+优先级如下：
+
+1. 运行与修改范围最相关的单元测试。
+2. 如果没有局部测试，运行项目推荐的测试命令。
+3. 如果无法运行测试，说明原因，并给出用户可以手动执行的验证命令。
+4. 如果只是文档、注释或配置小改，也要说明未运行测试的原因。
+
+不要声称“测试通过”，除非你确实运行过测试并看到通过结果。
+
+---
+
+## 与用户沟通
+
+回复用户时保持简洁、明确。
+
+最终回复一般包括：
+
+* 修改了什么。
+* 为什么这样改。
+* 是否运行了测试。
+* 测试结果是什么。
+* 是否还有需要用户注意的风险。
+
+如果没有实际修改代码，而是给出方案，应说明：
+
+* 推荐方案。
+* 关键步骤。
+* 注意事项。
+* 可复制的命令或文件内容。
+
+---
+
+## 处理不确定性
+
+遇到不确定情况时，不要假装知道。
+
+应优先：
+
+* 搜索仓库中的相关代码。
+* 查看 README、文档、配置文件、测试文件。
+* 根据现有实现推断项目约定。
+* 在仍不确定时，明确指出不确定点。
+
+不要做以下事情：
+
+* 编造不存在的文件路径。
+* 编造不存在的函数、类、接口。
+* 编造测试结果。
+* 编造依赖版本。
+* 在不了解上下文时大范围重构。
+
+---
+
+## 代码风格
+
+遵守当前仓库已有风格。
+
+包括但不限于：
+
+* 命名风格。
+* 文件组织方式。
+* 错误处理方式。
+* 日志输出方式。
+* 类型标注方式。
+* 注释风格。
+* 测试组织方式。
+
+如果项目已有 lint、format 或 test 命令，优先使用项目已有命令，不要擅自更换工具链。
+
+---
+
+## 依赖管理
+
+添加依赖前必须谨慎。
+
+只有在满足以下条件时才考虑新增依赖：
+
+* 用户明确要求；或
+* 现有项目无法合理实现；且
+* 新依赖带来的复杂度明显小于手写实现；且
+* 已说明新增依赖的原因。
+
+不要为了少写几行代码而引入大型依赖。
+
+---
+
+## Git 与提交
+
+除非用户明确要求，否则不要自动提交、推送、创建分支或修改远程仓库。
+
+如果用户要求生成提交信息，提交信息应：
+
+* 简洁。
+* 准确描述实际改动。
+* 不夸大范围。
+* 不写没有完成的内容。
+
+推荐格式：
+
+```text
+fix: 修复 xxx 问题
+feat: 添加 xxx 功能
+refactor: 简化 xxx 实现
+docs: 更新 xxx 文档
+test: 添加 xxx 测试
+```
+
+---
+
+## 禁止行为
+
+除非用户明确要求，不要执行以下行为：
+
+* 大范围重构。
+* 重写整个模块。
+* 替换项目技术栈。
+* 修改无关文件。
+* 删除无关代码。
+* 改动锁文件，除非依赖确实变化。
+* 修改格式化配置，除非任务要求。
+* 添加与需求无关的测试框架或工具。
+* 使用破坏性 Git 命令。
+* 修改密钥、token、证书、生产配置文件。
+
+---
+
+## 判断本规则是否生效
+
+如果本文件生效，应该能看到以下结果：
+
+* diff 更小，只包含必要改动。
+* 代码更直接，不会过度抽象。
+* Codex 会在复杂任务前先说明计划。
+* Codex 会在不确定时提出问题或说明假设。
+* Codex 不会顺手重构无关代码。
+* Codex 会尽量运行测试或说明验证方式。
+* 最终回复会清楚说明改动、验证和风险。
+
+---
+
+## 项目专属规则
+
+* 本项目面向 Ubuntu 22.04 和 ROS2 Humble；构建、测试和运行命令应在工作空间根目录 `/home/robot/WS_xr` 执行，并先 `source /opt/ros/humble/setup.bash`。
+* 工作空间包含 `xr_rm_input`、`xr_rm_teleop` 两个 `ament_python` 包，以及 `xr_rm_interfaces`、`xr_rm_bringup` 两个 `ament_cmake` 包；优先使用现有 ROS2 包、节点和消息，不要另建重复入口。
+* 修改 ROS 节点、launch、消息定义或安装配置后，至少运行 `colcon build --symlink-install`；涉及遥操作姿态控制时，再运行 `pytest src/xr_rm_teleop/test/test_orientation_control.py`。
+* 遥操作统一使用 `xr_rm_bringup/launch/arm_debug.launch.py`；调试和验证默认使用 `use_mock:=true`，未经用户明确要求不得连接真机、移动机械臂或操作夹爪。
+* 所有机器人运动相关改动必须保留工作空间/圆柱限位、线速度与角速度限制、指令超时和安全停止逻辑；不得默认关闭 `configure_safety_limits`，不得把 `move_to_initial_pose_on_connect` 的默认值改为 `true`。
+* 修改左右臂控制参数时，检查 `dual_arm_rm75.yaml`、`left_arm_rm75.yaml` 和 `right_arm_rm75.yaml` 中对应配置是否需要同步；保留双臂模式下 `left_arm_teleop`、`right_arm_teleop` 的节点名。
+* 睿尔曼 Python API2 仅为真机模式依赖；不要让 mock 模式强制依赖厂商 SDK，也不要为同一机械臂新增并发 RealMan 连接。

README.md

@@ -182,6 +182,9 @@ ros2 launch xr_rm_bringup arm_debug.launch.py arm:=left use_mock:=false
 ros2 launch xr_rm_bringup arm_debug.launch.py arm:=right use_mock:=false
 ```
 
+单臂真机默认执行配置文件中的 `movej(initial_joint_pose)`；现场需要跳过时，显式传入
+`move_to_initial_pose_on_connect:=false`。
+
 第四步：双臂真机。
 
 ```bash
@@ -190,7 +193,7 @@ ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=false \
   right_robot_ip:=192.168.192.19
 ```
 
-默认不会自动移动到初始化点。只有在确认安全区清空后，才显式打开：
+双臂默认不会自动移动到初始化点。以后需要启用时，在确认安全区清空后显式打开：
 
 ```bash
 ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=false \
@@ -221,7 +224,7 @@ ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=false \
 - `enable_trigger_gripper_control`：是否允许用 `trigger` 点击切换对应夹爪状态，默认 `true`。
 - `trigger_close_threshold`：trigger 点击判定阈值，默认 `0.95`。
 - `configure_peripheral_on_connect`：遥操作节点连接真机后是否配置末端外设，默认 `true`；工具控制会复用同一个 RealMan 连接，避免两个进程同时抢占同一机械臂。
-- `move_to_initial_pose_on_connect`：连接后是否执行 `movej`/`movel` 初始化，默认 `false`。
+- `move_to_initial_pose_on_connect`：连接后是否执行 `movej(initial_joint_pose)`；默认 `auto`，单臂配置启用、双臂配置禁用，也可显式传 `true`/`false` 覆盖。
 
 ## 配置文件说明
 
@@ -249,7 +252,7 @@ ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=false \
 - `xr_to_robot_matrix`：`/xr/*_controller` Project 位移到 RM75 base 坐标的映射矩阵。
 - `current_pose_poll_hz`：低频读取真机当前 TCP 的频率；控制中不再每帧阻塞读取状态。
 - `mock_initial_pose`：mock 模式初始 TCP 位姿。
-- `initial_joint_pose` / `initial_tcp_pose`：可选真机初始化点。
+- `initial_joint_pose`：可选真机初始关节角。
 
 当前 `/xr/*_controller` 的 Project 坐标约定：
 
@@ -340,7 +343,7 @@ ros2 topic pub --once /xr_rm/right_rm75/tool_enable std_msgs/msg/Bool "{data: fa
 - `pos`：手柄位置，长度 3。
 - `quat`：手柄姿态四元数，默认按 `xyzw` 解析；遥操作节点会用 grip 锁定后的相对旋转控制 TCP 姿态。
 - `pose_valid`：姿态是否可信。ROS 接收端看到 `false` 会强制 `grip=false`。
-- `pose_source`：`pxr_predict`、`unity_xr` 或 `none`，用于判断姿态来自 PICO 预测接口还是 Unity XR fallback。
+- `pose_source`：`pxr_predict`、`unity_xr`、`xrobotoolkit` 或 `none`，用于判断姿态来自 PICO 预测接口、Unity XR fallback 还是官方 XRoboToolkit SDK bridge。
 - `tracking_state` / `controller_status`：Unity/PICO 侧追踪诊断值，只用于日志和排查。
 - `grip_value`、`axis`、`buttons`：PICO 端输入诊断字段，当前不会写入 `XrController` 消息。
 
@@ -348,6 +351,59 @@ ros2 topic pub --once /xr_rm/right_rm75/tool_enable std_msgs/msg/Bool "{data: fa
 
 PICO 4 Ultra 在 Ubuntu 22.04 下配置 Unity、构建 APK、安装到头显并向 ROS2 主机发送 UDP 的详细步骤见 [docs/pico_udp_sender_ubuntu22_setup.md](docs/pico_udp_sender_ubuntu22_setup.md)。
 
+## 官方 XRoboToolkit bridge
+
+如果使用官方 XRoboToolkit APK 和 PC-Service，可以用 `xrobotoolkit_to_udp_bridge` 从本机 ROS Python 环境中的 `xrobotoolkit_sdk` 读取左右手柄数据，再转换成当前 `udp_controller_receiver` 支持的 UDP JSON。
+
+正式运行时不要同时启动官方 `PXREAClientUnity` / `RobotLinuxDemo` 可视化窗口。`/opt/apps/roboticsservice/run3D.sh` 会启动这个可视化 demo，适合单独确认 PICO 与 PC-Service 已连接；bridge 遥操作链路中只需要 PC-Service。
+
+运行前只保留一个 UDP 输入源。先清掉重复 bridge、sample sender 和官方 Unity 可视化 demo，再保留或启动 PC-Service：
+
+```bash
+pkill -f '[x]robotoolkit_to_udp_bridge'
+pkill -f '[s]ample_udp_sender'
+pkill -f '[R]obotLinuxDemo.x86_64'
+pkill -f '[P]XREAClientUnity'
+pgrep -af RoboticsServiceProcess || /opt/apps/roboticsservice/runService.sh
+```
+
+启动 ROS mock 接收链路：
+
+```bash
+cd /home/robot/WS_xr
+source /opt/ros/humble/setup.bash
+source install/setup.bash
+ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=true
+```
+
+另开终端启动 bridge：
+
+```bash
+cd /home/robot/WS_xr
+source ~/.bashrc
+source /opt/ros/humble/setup.bash
+source install/setup.bash
+ros2 run xr_rm_input xrobotoolkit_to_udp_bridge \
+  --host 127.0.0.1 --port 15000 --hz 90
+```
+
+bridge 默认对 grip/trigger 做轻量滞回：`grip` 按下阈值 `0.90`、松开阈值 `0.75`；`trigger` 按下阈值 `0.95`、松开阈值 `0.75`。启动日志会打印 PID、UDP endpoint 和阈值，便于确认当前只运行了一个 bridge。
+
+验证手柄数据是否进入 ROS：
+
+```bash
+ps -ef | grep -E 'xrobotoolkit_to_udp_bridge|sample_udp_sender|RobotLinuxDemo|PXREAClientUnity' | grep -v grep
+ros2 topic hz /xr/left_controller
+ros2 topic hz /xr/right_controller
+ros2 topic echo /xr/left_controller --field pose.position
+ros2 topic echo /xr/right_controller --field pose.position
+ros2 topic echo /xr/left_controller --field grip
+ros2 topic echo /xr/right_controller --field grip
+ros2 topic echo /xr/right_controller --field trigger
+```
+
+`/xr/left_controller` 和 `/xr/right_controller` 持续刷新、位置随手柄移动变化、`grip` 随握持键切换，即表示官方 XRoboToolkit 数据已经进入当前遥操作输入层。
+
 ## 真机安全验证
 
 第一次接真机时按这个顺序走：

docs/CODEX.md

@@ -1,215 +0,0 @@
-# CODEX 项目工作流
-
-本文件是本仓库给 Codex、Claude Code 和其他代码代理的项目规则。进入仓库后应先阅读并遵守本文件；如果系统或开发者级指令与本文件冲突，以更高优先级指令为准。
-
-## 项目定位
-
-本仓库是 ROS2 Humble 工作空间的 `src/` 层，用于 PICO/XR 双手柄遥操作左右睿尔曼 RM75：
-
-```text
-PICO/XR UDP JSON
-  -> xr_rm_input/udp_controller_receiver
-  -> /xr/left_controller 与 /xr/right_controller
-  -> xr_rm_teleop/single_arm_velocity_teleop
-  -> MockRealManAdapter 或 RealManAdapter
-  -> /xr_rm/<arm_name>/current_pose、raw_target_pose、target_pose、cmd_vel、target_clamped
-```
-
-核心控制方式是相对位姿透传遥操作：`grip=true` 的第一帧锁定手柄起点和机器人 TCP 起点，之后用手柄相对位移和相对旋转生成目标 TCP，并通过 `rm_movep_canfd` 下发位姿目标；`grip=false`、`pose_valid=false`、UDP 超时、异常或节点退出必须停止。
-
-## 固定工作流
-
-参考 `/home/robot/下载/claude_code_codex_workflow.md`，本项目采用：
-
-```text
-需求文档 / issue
-  -> 新建 Git 分支
-  -> Codex/Claude Code 先读项目，不直接改
-  -> 输出理解、方案、涉及文件和风险
-  -> 人工确认方向
-  -> AI 小步修改
-  -> 本地运行测试 / 构建 / mock 验证
-  -> 人工 review git diff
-  -> 用户决定是否 commit / push / merge
-```
-
-原则：
-
-- 人负责目标、验收和最终合并。
-- AI 负责探索、修改、运行检查、总结风险。
-- Git 分支、测试和 `git diff` 是隔离与回滚边界。
-- 默认不允许绕过人工确认直接修改文件、提交、推送或删除重要文件。
-- 除非用户明确写出“可以直接修改”“无需确认”“直接执行”等授权语句，否则任何会写入文件的操作前都必须先输出计划并等待人工确认。
-
-## 代理执行规则
-
-- 先探索，再修改。优先读相关 package、launch、YAML、消息、Unity 脚本和 README。
-- 修改前必须先说明目标理解、涉及文件、实现计划、风险和验证方式，并等待用户明确回复同意后再动手。
-- 小任务也遵守确认门禁；可以把计划写得很短，但不能在未获授权时直接写文件。
-- 用户已经明确授权直接修改的当前请求，可以在简短说明后执行；仍需保持小步修改并在结束时总结差异。
-- 在等待确认前，可以执行只读探索命令，例如查看文件、搜索代码、检查 `git status --short` 和阅读 diff。
-- 只改与任务相关的最小文件集，避免无关重构、格式化和大范围重写。
-- 不要自动 `git add .`、commit、push、force push、删分支或合并分支。
-- 不要回滚用户已有改动。工作区有未提交内容时，默认它们属于用户。
-- 删除文件、修改真机参数、修改运动控制逻辑前必须有明确任务依据。
-- 修改后给出：改了哪些文件、核心行为变化、如何运行、如何测试、残余风险。
-
-## 机器人安全规则
-
-- 不要随意修改真实硬件参数：
-  - 左臂 IP：`192.168.192.18`
-  - 右臂 IP：`192.168.192.19`
-  - RM75 TCP 端口：`8080`
-- 不要随意修改工作空间边界、圆柱半径限制、`xr_to_robot_matrix`、初始化关节/TCP 位姿、速度/加速度限制、末端外设配置。
-- 真机相关改动必须保持以下安全停止路径：
-  - `grip=false`
-  - PICO/Unity 发送 `pose_valid=false`
-  - UDP 超时 / controller 数据过期
-  - adapter 异常
-  - 节点 shutdown
-  - PICO App 暂停、退出或关闭发送
-- 默认不要打开 `move_to_initial_pose_on_connect:=true`。
-- 当前没有双臂碰撞检测。不要在文档或代码中暗示已经具备双臂避碰。
-- 真机验证顺序必须是 mock -> 单臂 -> 双臂。
-
-## 标准命令
-
-所有 ROS2 命令从工作空间根目录 `/home/robot/WS_xr` 执行：
-
-```bash
-cd /home/robot/WS_xr
-source /opt/ros/humble/setup.bash
-rosdep install --from-paths src -y --ignore-src
-colcon build --symlink-install
-source install/setup.bash
-```
-
-双臂 mock：
-
-```bash
-ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=true
-```
-
-模拟 UDP：
-
-```bash
-ros2 run xr_rm_input sample_udp_sender --hand both --host 127.0.0.1 --port 15000 \
-  --pattern axis_sweep --seconds 60 --both-mode staggered
-```
-
-当前 `sample_udp_sender` 默认用 `axis_sweep` 扫轴轨迹；`--both-mode staggered` 会先左后右，适合双臂方向检查。需要检查姿态链路时可额外加 `--rotation-pattern rpy_steps`。
-
-常用话题：
-
-```bash
-ros2 topic echo /xr/left_controller
-ros2 topic echo /xr/right_controller
-ros2 topic echo /xr_rm/left_rm75/target_pose
-ros2 topic echo /xr_rm/right_rm75/target_pose
-ros2 topic echo /xr_rm/left_rm75/cmd_vel
-ros2 topic echo /xr_rm/right_rm75/cmd_vel
-```
-
-单臂真机：
-
-```bash
-ros2 launch xr_rm_bringup arm_debug.launch.py arm:=left use_mock:=false
-ros2 launch xr_rm_bringup arm_debug.launch.py arm:=right use_mock:=false
-```
-
-双臂真机：
-
-```bash
-ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=false \
-  left_robot_ip:=192.168.192.18 \
-  right_robot_ip:=192.168.192.19
-```
-
-图形启动面板：
-
-```bash
-python3 src/xr_rm_bringup/tools/launcher_ui.py
-```
-
-Git 检查：
-
-```bash
-git status --short
-git diff
-git diff --check
-```
-
-## 常用工作模式
-
-探索项目：
-
-```text
-请阅读这个项目，不要修改任何文件。请输出项目整体功能、主要入口、关键模块关系、如何运行和当前风险。
-```
-
-定位 bug：
-
-```text
-这是报错日志：XXX。请先定位原因，不要改代码。列出最可能原因、相关文件、验证方法和最小修改方案。
-```
-
-小功能开发：
-
-```text
-请实现 XXX。限制：不改变现有接口，不重构无关代码。本轮先不要修改文件，请先说明计划、涉及文件、风险和验证方式，等我回复“开始修改”后再动手。
-```
-
-直接授权小改：
-
-```text
-请直接修改 XXX，无需等待二次确认。限制：只改相关文件，修改后说明差异和验证方式。
-```
-
-代码审查：
-
-```text
-请 review 当前 git diff。重点检查逻辑错误、现有功能影响、路径/权限/平台兼容、可读性和不该提交的大文件。
-```
-
-文档同步：
-
-```text
-请根据当前代码更新 README。要求：不夸大功能，写清安装、运行、常见问题，Ubuntu 和 Windows 命令分开，不删除重要说明。
-```
-
-## 包职责
-
-- `xr_rm_interfaces`：定义 `XrController`。
-- `xr_rm_input`：接收 UDP controller JSON，发布左右手柄话题；`pose_valid=false` 会强制 `grip=false`；提供 `sample_udp_sender` 扫轴/正弦和姿态调试数据。
-- `xr_rm_teleop`：把手柄相对位移和相对旋转映射成 RM75 笛卡尔位姿透传目标。
-- `xr_rm_bringup`：维护 launch、YAML、现场 UI 和运行入口。
-- `unity/XR_RM_PICO_UDP_Sender`：PICO 4 Ultra UDP Sender Unity 工程，发送 `seq`、`source_time`、`pose_valid`、`pose_source`、tracking/controller status 等诊断字段。
-
-## 文档规则
-
-- 根目录保留 `README.md` 和 `CODEX.md`。
-- `README.md` 是唯一项目主文档，包含 ROS2 构建、运行、mock、真机、安全和协议说明。
-- `CODEX.md` 是代码代理规则文档，修改工作流时优先更新它。
-- `docs/` 下的 Markdown 只维护 Ubuntu 22.04 下 PICO 发送 UDP 数据的配置教程；已有非 Markdown 汇报材料不要扩写成源码教程。
-- 不要新增零散 Markdown，除非用户明确要求。
-- 不要声明未实现功能已经完成。mock、真机、Unity/PICO 路线要写清楚。
-
-## Unity / PICO 规则
-
-- 当前 Unity 工程：`unity/XR_RM_PICO_UDP_Sender`。
-- 当前 PICO SDK：`unity/PICO-Unity-Integration-SDK-release_3.4.0`。
-- 当前 Unity package 还依赖 TextMeshPro，PICO 面板字体来自预生成的 `Assets/Resources/Fonts/Roboto-Regular SDF.asset` 和 `Roboto-Bold SDF.asset`；不要在 APK 运行时动态创建 TMP 字体资产。
-- APK、Unity `Builds/`、`Library/`、日志和临时文件不是源码，不应提交。
-- PICO UDP 目标 IP 必须是当前 Ubuntu ROS 主机在同一局域网的 IPv4。
-- PICO App 暂停、退出或关闭发送时必须发送 `grip=false`，姿态无效时必须发送 `pose_valid=false` 并让 ROS receiver 强制停止。
-- 当前 Unity `Project (+Z back)` 输出必须是 `+X` 右、`+Y` 上、`+Z` 后。PXR `pxr_predict` 原始坐标按实测先转换为 `project.x=native.z`、`project.y=native.y`、`project.z=-native.x`；`Source raw` 仅用于现场对照。若 `/xr/*_controller.pose.position` 已正确但某一只臂方向不对，优先改对应 YAML 的 `xr_to_robot_matrix`。
-
-## 不在当前任务范围内
-
-除非用户明确要求，不要实现：
-
-- XRoboToolkit PC-Service bridge。
-- D405/D435 视频流和数据记录。
-- 双臂碰撞检测。
-- 自动采摘任务状态机。
-- QP IK、灵巧手 retarget、全身 tracker。

docs/pico_udp_sender_ubuntu22_setup.md

@@ -1,545 +0,0 @@
-# Ubuntu 22.04 下 PICO 4 Ultra UDP Sender 配置教程
-
-本文档只记录如何在 **Ubuntu 22.04** 下配置 Unity/PICO 4 Ultra，让头显把左右手柄数据通过 UDP 发给当前 ROS2 工作空间。
-
-目标链路：
-
-```text
-PICO 4 Ultra 双手柄 6DoF pose / grip / trigger / pose 诊断
-  -> Unity Android APK
-  -> UDP JSON, 默认当前 ROS 主机 IP:15000，兜底 192.168.9.99:15000
-  -> xr_rm_input/udp_controller_receiver
-  -> /xr/left_controller 与 /xr/right_controller
-```
-
-## 1. 当前项目事实
-
-- Unity 工程路径：`unity/XR_RM_PICO_UDP_Sender`
-- Unity 版本：`2022.3.62f3c1`
-- Unity Editor 路径：`/home/robot/Unity/Hub/Editor/2022.3.62f3c1/Editor/Unity`
-- PICO SDK 路径：`unity/PICO-Unity-Integration-SDK-release_3.4.0`
-- PICO package 引用：`Packages/manifest.json` 中的 `file:../../PICO-Unity-Integration-SDK-release_3.4.0`
-- Unity UI 依赖：`com.unity.textmeshpro`，运行面板使用预生成的 `Assets/Resources/Fonts/Roboto-Regular SDF.asset` 和 `Roboto-Bold SDF.asset`
-- Android 包名：`com.local.xr_rm_udp_sender`
-- 默认 UDP 目标：构建时优先使用 `XR_RM_UDP_TARGET_HOST`，否则自动选择本机局域网 IPv4，兜底 `192.168.9.99:15000`
-- 默认发送频率：`90 Hz`
-- APK 输出：`unity/XR_RM_PICO_UDP_Sender/Builds/XR-RM-PICO-UDP-Sender.apk`
-
-PICO 端建议稳定发送 `90 Hz`，网络或性能不足时可降到 `60 Hz`，不要低于 `20 Hz`。ROS 遥操作节点默认 `command_timeout_sec=0.12`，超时会停止。
-
-## 2. Ubuntu 22.04 环境准备
-
-建议环境：
-
-- Ubuntu 22.04 x86_64
-- GNOME 桌面，优先 X11 会话
-- Unity 2022.3 LTS
-- Android Build Support、Android SDK & NDK Tools、OpenJDK
-- ADB
-
-检查当前图形会话：
-
-```bash
-echo $XDG_SESSION_TYPE
-```
-
-如果 Unity Editor 或 Hub 在 Wayland 下出现黑屏、鼠标偏移、构建窗口异常，注销后选择 `Ubuntu on Xorg`。
-
-安装 Unity Hub：
-
-```bash
-sudo apt update
-sudo apt install -y curl gpg ca-certificates
-
-sudo install -d /etc/apt/keyrings
-curl -fsSL https://hub.unity3d.com/linux/keys/public \
-  | sudo gpg --dearmor -o /etc/apt/keyrings/unityhub.gpg
-
-echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/unityhub.gpg] https://hub.unity3d.com/linux/repos/deb stable main" \
-  | sudo tee /etc/apt/sources.list.d/unityhub.list
-
-sudo apt update
-sudo apt install -y unityhub
-```
-
-安装 ADB：
-
-```bash
-sudo apt update
-sudo apt install -y android-tools-adb
-adb version
-```
-
-在 Unity Hub 里安装 Unity 2022.3 LTS，并勾选：
-
-- `Android Build Support`
-- `Android SDK & NDK Tools`
-- `OpenJDK`
-
-优先使用 Unity 随 Editor 安装的 embedded Android SDK/NDK/JDK，不要混用系统 Android Studio 的工具链。
-
-## 3. 准备 PICO 4 Ultra
-
-在 PICO 4 Ultra 中：
-
-1. 登录设备。
-2. 开启开发者模式。
-3. 开启 USB 调试。
-4. 用 USB-C 线连接 Ubuntu 主机。
-5. 在 Ubuntu 上执行：
-
-```bash
-adb devices
-```
-
-PICO 内会弹出 USB 调试授权，选择允许。再次执行：
-
-```bash
-adb devices
-```
-
-应看到类似：
-
-```text
-<device_serial>    device
-```
-
-如果是 `unauthorized`，重新插拔 USB 并在 PICO 内确认授权，或执行：
-
-```bash
-adb kill-server
-adb start-server
-adb devices
-```
-
-## 4. 打开 Unity 工程
-
-在 Unity Hub 中：
-
-1. 点击 `Projects`。
-2. 点击 `Add`。
-3. 选择：
-
-```text
-/home/robot/WS_xr/src/unity/XR_RM_PICO_UDP_Sender
-```
-
-4. 用 Unity `2022.3.62f3c1` 或同系列 2022.3 LTS 打开。
-5. 如果提示升级工程版本，先确认 git 状态再继续。
-
-如果 Unity 打开后找不到 PICO package，检查：
-
-```text
-unity/XR_RM_PICO_UDP_Sender/Packages/manifest.json
-../../PICO-Unity-Integration-SDK-release_3.4.0
-```
-
-该相对路径表示从 `unity/XR_RM_PICO_UDP_Sender/Packages` 往上两级到 `unity/`，再进入 `PICO-Unity-Integration-SDK-release_3.4.0`。
-
-## 5. Android 构建设置
-
-当前工程已提供菜单脚本：
-
-```text
-Assets/Editor/XrRmUdpSenderProjectSetup.cs
-```
-
-在 Unity Editor 菜单中依次执行：
-
-```text
-XR-RM -> Apply UDP Sender Android Settings
-XR-RM -> Create Or Refresh UDP Sender Scene
-XR-RM -> Build Android APK
-```
-
-这些菜单会配置或刷新：
-
-- `Product Name = XR-RM-PICO-UDP-Sender`
-- `Package Name = com.local.xr_rm_udp_sender`
-- Android min SDK = API 29
-- Android target SDK = Auto
-- Internet permission = enabled
-- Scripting Backend = IL2CPP
-- Target Architectures = ARM64
-- Graphics API = OpenGLES3
-- XR Management Android loader = PICO `PXR_Loader`
-- `Assets/Scenes/Main.unity`
-- 场景中的 `PicoControllerUdpSender`、`PicoUdpConfigPanel` 和 `PicoKeepAwake`
-- TextMeshPro UI、Roboto SDF 字体、Saved/Favorite IP 面板、PICO predicted pose 优先读取和 Unity XR fallback
-
-也可以使用 batchmode 构建：
-
-```bash
-cd /home/robot/WS_xr/src
-
-UNITY_EDITOR="/home/robot/Unity/Hub/Editor/2022.3.62f3c1/Editor/Unity"
-
-"$UNITY_EDITOR" \
-  -batchmode \
-  -quit \
-  -projectPath "$(pwd)/unity/XR_RM_PICO_UDP_Sender" \
-  -executeMethod XrRmUdpSenderProjectSetup.BuildAndroidApk \
-  -logFile "$(pwd)/unity_build.log"
-```
-
-如果要覆盖自动发现到的 UDP 目标 IP，可在构建命令前设置：
-
-```bash
-export XR_RM_UDP_TARGET_HOST=192.168.9.99
-```
-
-构建成功后 APK 位于：
-
-```text
-unity/XR_RM_PICO_UDP_Sender/Builds/XR-RM-PICO-UDP-Sender.apk
-```
-
-## 6. 安装 APK 到 PICO
-
-确保 PICO 已 USB 连接且 `adb devices` 显示 `device`。
-
-```bash
-cd /home/robot/WS_xr/src
-adb install -r unity/XR_RM_PICO_UDP_Sender/Builds/XR-RM-PICO-UDP-Sender.apk
-```
-
-看到 `Success` 表示安装完成。
-
-检查包是否存在：
-
-```bash
-adb shell pm list packages | grep xr_rm
-```
-
-戴上 PICO：
-
-1. 打开 `Library`。
-2. 进入未知来源/开发者应用区域。
-3. 打开 `XR-RM-PICO-UDP-Sender`。
-
-## 7. 网络配置
-
-PICO 和 Ubuntu ROS 主机必须在同一个局域网。
-
-查看 Ubuntu 主机 IP：
-
-```bash
-hostname -I
-ip -4 addr
-```
-
-假设 Ubuntu 主机 IP 是：
-
-```text
-192.168.9.99
-```
-
-则 PICO App 面板里使用：
-
-| 配置项 | 推荐值 |
-| --- | --- |
-| `Target IP` | `192.168.9.99`，替换为当前 Ubuntu 主机 IP |
-| `Target Port` | `15000` |
-| `Saved IP` | 最近使用或收藏的 IP，可用摇杆左右切换 |
-| `Favorite` | `ON` 表示当前 IP 已收藏 |
-| `Send Rate` | 推荐 `90 Hz`，不稳定时用 `60 Hz` |
-| `Coordinates` | `Project (+Z back)` |
-| `UDP Sending` | `ON` |
-
-如果 Ubuntu 开启了 UFW：
-
-```bash
-sudo ufw allow 15000/udp
-sudo ufw status
-```
-
-## 8. PICO App 操作
-
-面板操作：
-
-- 摇杆上/下：选择行
-- 摇杆左/右：选择 Saved IP、收藏当前 IP、调整端口/频率、切换坐标模式或发送开关
-- Trigger / A / X：编辑当前行或触发当前行
-- B / Y：保存并应用
-- Menu：在配置面板和运行 HUD 之间切换
-- Grip：ROS 侧遥操作使能；未按下时机械臂停止
-
-验证现象：
-
-- 面板中 `L valid pxr/unity` 或 `R valid pxr/unity` 表示 Unity 能读到对应手柄姿态；`invalid none` 表示该手柄姿态不可用。
-- `UDP Sending ON` 后，ROS2 的 `/xr/left_controller` 与 `/xr/right_controller` 应持续刷新。
-- HUD 显示包计数、发送端点、左右姿态状态和 KeepAwake 状态。
-- `pose_valid=false` 时，ROS 接收端会强制该手柄 `grip=false`，即使 PICO 端按下了 Grip。
-- 按住 `grip` 并移动或小角度转动手柄时，mock 模式下 `/xr_rm/*/target_pose` 应连续变化，`/xr_rm/*/cmd_vel` 会显示目标位姿变化率。
-- 真机模式下，点击对应手柄 `trigger` 会切换并保持对应夹爪开/关状态。
-- 松开 `grip` 后，机械臂慢停，`cmd_vel` 应回到零。
-
-## 9. ROS2 端验证
-
-先构建并 source 工作空间：
-
-```bash
-cd /home/robot/WS_xr
-source /opt/ros/humble/setup.bash
-colcon build --symlink-install
-source install/setup.bash
-```
-
-只验证 UDP receiver：
-
-```bash
-ros2 launch xr_rm_input udp_receiver.launch.py udp_port:=15000
-```
-
-另开终端查看左右手柄：
-
-```bash
-cd /home/robot/WS_xr
-source /opt/ros/humble/setup.bash
-source install/setup.bash
-
-ros2 topic echo /xr/left_controller
-ros2 topic echo /xr/right_controller
-ros2 topic hz /xr/left_controller
-ros2 topic hz /xr/right_controller
-```
-
-期望现象：
-
-- PICO 应用启动并打开 `UDP Sending ON` 后，两个 topic 都持续刷新。
-- 按左手 `grip` 时，`/xr/left_controller` 的 `grip` 变成 `true`。
-- 按右手 `grip` 时，`/xr/right_controller` 的 `grip` 变成 `true`。
-- 扳机从松开到按下时，`trigger` 从 `0.0` 附近变到 `1.0` 附近。
-- 单臂或双臂真机 launch 已启动时，对应手柄每次点击 `trigger` 都会切换并保持对应夹爪状态。
-- 平移手柄时，`pose.position` 连续变化。
-
-如果收不到包，先抓 UDP：
-
-```bash
-sudo tcpdump -ni any udp port 15000
-```
-
-能看到 UDP 但 ROS topic 没数据，说明 JSON 字段不符合协议。查看 `udp_controller_receiver` 终端里的格式错误提示。
-
-## 10. Mock 闭环验证
-
-先不要连接真机，使用 mock 模式验证完整链路。
-
-终端 1：
-
-```bash
-cd /home/robot/WS_xr
-source /opt/ros/humble/setup.bash
-source install/setup.bash
-ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=true udp_port:=15000
-```
-
-终端 2：
-
-```bash
-cd /home/robot/WS_xr
-source /opt/ros/humble/setup.bash
-source install/setup.bash
-ros2 topic echo /xr_rm/left_rm75/cmd_vel
-ros2 topic echo /xr_rm/right_rm75/cmd_vel
-# 需要看实际位姿目标时另开终端：
-ros2 topic echo /xr_rm/left_rm75/target_pose
-ros2 topic echo /xr_rm/right_rm75/target_pose
-```
-
-流程：
-
-1. 启动 PICO Unity 应用。
-2. 确认 `/xr/left_controller` 和 `/xr/right_controller` 正常刷新。
-3. 左手按住 `grip`，只移动左手一小段，观察 `/xr_rm/left_rm75/target_pose` 和 `/xr_rm/left_rm75/cmd_vel`。
-4. 左手保持小角度转动，确认 `target_pose.pose.orientation` 和 `cmd_vel.twist.angular` 会变化。
-5. 松开左手 `grip`，确认 `cmd_vel` 回到 0。
-6. 右手重复同样流程。
-7. 用 `ros2 topic hz` 确认频率稳定，建议接近 PICO 端配置的发送频率。
-
-如果要排除 PICO 端问题，可用本机 sample sender 验证 ROS 端：
-
-```bash
-ros2 run xr_rm_input sample_udp_sender --hand both --host 127.0.0.1 --port 15000 \
-  --pattern axis_sweep --seconds 60 --both-mode staggered
-```
-
-`axis_sweep` 会按 `XR +X/-X/+Y/-Y/+Z/-Z` 打印方向标签。双手 `staggered` 模式先左后右，便于现场逐只确认映射。
-如需同时验证姿态链路，可增加 `--rotation-pattern rpy_steps --rotation-amplitude-deg 25`。
-
-## 11. UDP JSON 协议
-
-Unity APK 每个周期发送一个双手柄 JSON 包：
-
-```json
-{
-  "t": 12.345,
-  "source_time": 12.345,
-  "seq": 42,
-  "frame_id": "xr_world",
-  "controllers": {
-    "left": {
-      "grip": true,
-      "trigger": 0.0,
-      "pos": [-0.12, 1.05, 0.30],
-      "quat": [0.0, 0.0, 0.0, 1.0],
-      "pose_valid": true,
-      "pose_source": "pxr_predict",
-      "tracking_state": 3,
-      "controller_status": 2,
-      "grip_value": 1.0,
-      "axis": [0.0, 0.0],
-      "buttons": {
-        "grip": true,
-        "primary": false,
-        "secondary": false,
-        "menu": false,
-        "axis_click": false
-      }
-    },
-    "right": {
-      "grip": true,
-      "trigger": 0.4,
-      "pos": [0.12, 1.05, 0.30],
-      "quat": [0.0, 0.0, 0.0, 1.0],
-      "pose_valid": true,
-      "pose_source": "unity_xr",
-      "tracking_state": 3,
-      "controller_status": -1,
-      "grip_value": 0.8,
-      "axis": [0.0, 0.0],
-      "buttons": {
-        "grip": true,
-        "primary": false,
-        "secondary": false,
-        "menu": false,
-        "axis_click": false
-      }
-    }
-  }
-}
-```
-
-字段要求：
-
-| 字段 | 类型 | 说明 |
-| --- | --- | --- |
-| `t` | number | `Time.realtimeSinceStartupAsDouble` |
-| `source_time` | number | 当前同 `t`，预留给延迟统计 |
-| `seq` | number | 发送端递增包序号，预留给丢包统计 |
-| `frame_id` | string | 默认 `xr_world` |
-| `controllers.left` | object | 左手柄 |
-| `controllers.right` | object | 右手柄 |
-| `grip` | bool | ROS 遥操作启停 |
-| `trigger` | float | `0.0-1.0`；真机模式下跨过 `0.95` 的上升沿切换夹爪开/关状态 |
-| `pos` | float[3] | `[x, y, z]` |
-| `quat` | float[4] | `[qx, qy, qz, qw]`；ROS 遥操作节点会用相对旋转控制 TCP 姿态 |
-| `pose_valid` | bool | 姿态有效性；`false` 时 ROS receiver 强制 `grip=false` |
-| `pose_source` | string | `pxr_predict`、`unity_xr` 或 `none` |
-| `tracking_state` | int | Unity XR tracking state 原始值 |
-| `controller_status` | int | PICO controller status 原始值，Unity XR fallback 时为 `-1` |
-| `grip_value` | float | Grip 模拟量，范围 `0.0-1.0` |
-| `axis` | float[2] | 主摇杆二维轴 |
-| `buttons` | object | `grip`、`primary`、`secondary`、`menu`、`axis_click` |
-
-当前工程的 `Project (+Z back)` 坐标是 ROS 侧使用的统一项目坐标：
-
-```csharp
-project.x = native.z;
-project.y = native.y;
-project.z = -native.x;
-```
-
-这条转换只用于 `pose_source=pxr_predict` 且 `Coordinates=Project (+Z back)` 的情况。`Source raw` 模式保留 PXR native 或 Unity XR fallback 的原始坐标，便于现场对照；`unity_xr` fallback 暂不做 PXR native 转换，避免把已经由 Unity XR 提供的坐标二次转换。
-
-禁用发送、App 暂停或退出时，必须额外发送一次左右手柄 `grip=false`，让 ROS 侧安全停止。
-ROS 侧收到 `grip=false` 时不会主动打开或闭合夹爪，夹爪保持上一次状态。
-
-`udp_controller_receiver` 仍兼容调试脚本的旧格式：单个 object 可以直接带 `hand`、`pos`、`quat`；`controllers` 可以是 object 或 list；位置字段也支持 `position`、`p`、`pose.position`，姿态字段支持 `orientation`、`q`。四元数默认按 `xyzw` 解析，也可用 `quat_order:=wxyz` 覆盖。
-
-## 12. 坐标方向检查
-
-当前 Project 输出使用下面的位置坐标：
-
-```text
-+X: 向右
-+Y: 向上
-+Z: 向后
-```
-
-PXR `pxr_predict` 原始坐标按现场实测通常表现为右移 `native.z+`、前伸 `native.x+`，所以 Unity 在 Project 模式中会输出 `project.x=native.z`、`project.z=-native.x`。如果切到 `Source raw`，应能看到原始 PXR 现象，用于确认当前到底是 PXR native 问题还是 ROS 侧映射问题。
-
-双臂配置中的映射关系：
-
-```text
-左臂机器人位移增量 = [-手柄y,  手柄z, -手柄x]
-右臂机器人位移增量 = [ 手柄y,  手柄z,  手柄x]
-```
-
-建议现场按下面顺序验证：
-
-1. 只启动 `use_mock:=true`。
-2. APK 中选择 `Project (+Z back)`，按住左手 `grip`，每次只沿右/左、上/下、前/后移动一个方向。
-3. 记录 `/xr/left_controller.pose.position` 的变化方向。
-4. 记录 `/xr_rm/left_rm75/target_pose` 的位置方向。
-5. 小角度转动左手手柄，记录 `/xr/left_controller.pose.orientation` 与 `/xr_rm/left_rm75/target_pose.pose.orientation` 是否连续变化。
-6. 右手重复。
-
-如果两个手柄在 ROS topic 里的某个轴都反了，优先检查 Unity/PICO 发送到 `/xr/*_controller.pose.position` 的实际方向。如果 ROS topic 正确，但某一只机械臂运动方向不符合现场坐标，只改对应 YAML 的 `xr_to_robot_matrix`。
-
-`Coordinates=Source raw` 只用于诊断，不建议用于正式遥操作。现场方向修正优先通过 ROS 侧 topic 观察定位：如果 `/xr/*_controller.pose.position` 已经符合 Project 坐标约定，就不要在 Unity 中继续临时改符号。
-
-## 13. 真机前置检查
-
-本文档只负责 PICO UDP 发送配置，但如果继续接真机，必须先确认：
-
-- 急停可用。
-- 机械臂工作区清空。
-- PICO topic 在 mock 下已经稳定。
-- `grip=false` 时机械臂慢停，`/xr_rm/<arm>/cmd_vel` 为 0。
-- mock 下小角度转动手柄时，`/xr_rm/<arm>/cmd_vel.twist.angular` 有连续小幅变化。
-- 夹爪验证时点击对应手柄 `trigger`，确认每次点击都会切换并保持开/关状态。
-- `move_to_initial_pose_on_connect` 保持 `false`。
-
-单臂真机：
-
-```bash
-ros2 launch xr_rm_bringup arm_debug.launch.py arm:=left use_mock:=false udp_port:=15000
-ros2 launch xr_rm_bringup arm_debug.launch.py arm:=right use_mock:=false udp_port:=15000
-```
-
-双臂真机必须在左右单臂都验证通过后再启动：
-
-```bash
-ros2 launch xr_rm_bringup arm_debug.launch.py arm:=both use_mock:=false \
-  left_robot_ip:=192.168.192.18 \
-  right_robot_ip:=192.168.192.19 \
-  udp_port:=15000
-```
-
-## 14. 常见问题
-
-| 现象 | 排查 |
-| --- | --- |
-| Unity 找不到 PICO package | 检查 `Packages/manifest.json` 的 `../../PICO-Unity-Integration-SDK-release_3.4.0` 路径 |
-| Gradle 或 Android 构建失败 | 检查 Android Build Support、SDK/NDK/OpenJDK、IL2CPP、ARM64、Android Build Target 和 PICO SDK 编译错误 |
-| PICO 安装失败或 `unauthorized` | 重新授权 USB 调试，执行 `adb kill-server && adb start-server && adb devices` |
-| ROS2 收不到 UDP | 检查同一 Wi-Fi、Target IP、Target Port、UFW、`UDP Sending ON`、左右手柄是否 `valid pxr/unity` |
-| tcpdump 有包但 topic 没数据 | JSON 字段不对，确认包含 `controllers.left/right`，且 `pos` 长度 3、`quat` 长度 4 |
-| 有 topic 但机械臂不动 | 检查 `grip`、`pose_valid` 日志、teleop 节点订阅话题、工作空间限幅、UDP 超时 |
-| trigger 不控制夹爪 | 确认是真机 launch、`enable_tool_control=true`，且 `trigger` 能从低值跨到 0.95 以上 |
-| 按左手右臂动 | PICO 端 left/right 获取或填充反了 |
-| 松开 grip 后仍有速度 | 确认 PICO 持续发送 `grip=false`，并检查 teleop 超时停止 |
-| 经常超时 | 发送频率太低、网络丢包、PICO 应用后台暂停；提高 `sendHz` 并保持应用前台运行 |
-| 前后方向反了 | 先看 `/xr/*_controller.pose.position` 是否符合 `+Z` 向后；topic 正确时修改对应 YAML 的 `xr_to_robot_matrix` |
-| 某一只臂方向反了 | 修改对应 YAML 的 `xr_to_robot_matrix` |
-
-## 15. 参考链接
-
-- Unity Hub Linux 安装文档：`https://docs.unity.com/en-us/hub/install-hub-linux`
-- Unity 2022.3 系统要求：`https://docs.unity.cn/Documentation/Manual/system-requirements.html`
-- PICO 4 Ultra 开发资源：`https://developer.picoxr.com/pico4-ultra/`
-- PICO Unity Integration SDK：`https://github.com/Pico-Developer/PICO-Unity-Integration-SDK`
-- PICO Controller & HMD input mapping：`https://developer-cn.picoxr.com/en/document/unity/input-mapping/`
-- Unity XR `InputDevice.TryGetFeatureValue`：`https://docs.unity3d.com/ScriptReference/XR.InputDevice.TryGetFeatureValue.html`
-- Unity XR `CommonUsages`：`https://docs.unity3d.com/ScriptReference/XR.CommonUsages.html`

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-{
-	Properties
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-	float4 _LightColor_02;
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-
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-
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-    
- 
-    VertexOutput vert ( VertexInput v )
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-		o.worldNormal.xyz = UnityObjectToWorldNormal(v.normal);
-		o.uv.xy = v.texcoord.xy;
-		o.vertex = v.vertex;
-		//float3 positionWS = mul(unity_ObjectToWorld, v.vertex.xyz);
-		float4 positionCS = UnityObjectToClipPos(v.vertex);
-		o.clipPos = positionCS;
-		return o;
-	}
-
-	half4 frag ( VertexOutput IN  ) : SV_Target
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-		float3 ViewPos = mul( UNITY_MATRIX_MV, float4( IN.vertex.xyz, 1 ) ).xyz;
-			   ViewPos = normalize( ViewPos );
-		float3 worldNormal = normalize(IN.worldNormal.xyz);
-		float3 break80 = cross( ViewPos , mul( UNITY_MATRIX_V, float4( worldNormal , 0.0 ) ).xyz );
-		float2 MatCapUV = (float2(-break80.y , break80.x));
-		       MatCapUV = (MatCapUV*0.5 + 0.5);
-		float4 mask = tex2D( _Mask, uv );
-		float4 lerpMatCap = lerp( tex2D( _Matcap_01, MatCapUV ) , tex2D( _Matcap_02, MatCapUV ) , mask.r);
-		float4 mainColor = ( ( maintex * _Tint ) * ( lerpMatCap * _MatcapIntensity ) );
-		       mainColor+=mainColor;
-		float4 lerpLightColor = lerp( _LightColor_01 , _LightColor_02 , mask.r);
-		float  lambert = dot( worldNormal , _Light );
-		float4 Color = ( mainColor + ( ( ( lerpLightColor * max( lambert , 0.0 ) ) / 20.0 ) * _Light_Power ) );
-		float4 finalCol = float4(Color.rgb, 1);
-		
-		return finalCol;
-	}
-
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-	
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-		Tags 
-		{ 
-			"RenderPipeline"="UniversalPipeline" 
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-
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-		{
-			Name "Forward"
-			Tags { "LightMode"="UniversalForward" }
-			
-			Blend One Zero, One Zero
-			ZWrite On
-			ZTest LEqual
-			Offset 0,0
-			ColorMask RGBA
-
-	
-            CGPROGRAM
-			#pragma vertex vert
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-            ENDCG
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-		
-
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-	
-	 SubShader
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-        Tags
-        {
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-        LOD 200
-        Pass
-        {
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