forked from YikaiFu-cart/acRealman_xr
35 lines
1.0 KiB
YAML
Executable File
35 lines
1.0 KiB
YAML
Executable File
# 单臂模拟/默认配置。
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# 默认按最新 acDual-arm 配置中的右臂参数运行，使模拟和真机单臂测试使用同一套坐标约定。
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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: 2.0
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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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# 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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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: true
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mock_initial_pose: [0.1924, -0.3025, 0.2923, 3.0560, 0.1310, 0.9070]
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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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