From 1e2933f330c11dae2f4a021c3146e1847aba3224 Mon Sep 17 00:00:00 2001 From: lgv Date: Fri, 18 Sep 2026 16:40:48 +0800 Subject: [PATCH] test(touch):finsh touch test --- cmvr-es/config/devices/arm/arm_qp.pb.txt | 2 +- .../touch_screen_task/touch_screen_task.pb.txt | 14 +++++++------- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/cmvr-es/config/devices/arm/arm_qp.pb.txt b/cmvr-es/config/devices/arm/arm_qp.pb.txt index 95ca92dd..6ad6d6d7 100644 --- a/cmvr-es/config/devices/arm/arm_qp.pb.txt +++ b/cmvr-es/config/devices/arm/arm_qp.pb.txt @@ -111,7 +111,7 @@ arm { pinocchio_cartesian_motion_planner { linear_velocity_max: 0.8 linear_acceleration_max: 10.0 - linear_jerk_max: 30.0 + linear_jerk_max: 60.0 angular_velocity_max: 1.0 angular_acceleration_max: 5.0 angular_jerk_max: 12.0 diff --git a/cmvr-es/config/tasks/touch_screen_task/touch_screen_task.pb.txt b/cmvr-es/config/tasks/touch_screen_task/touch_screen_task.pb.txt index 43bacdd6..69820cdd 100644 --- a/cmvr-es/config/tasks/touch_screen_task/touch_screen_task.pb.txt +++ b/cmvr-es/config/tasks/touch_screen_task/touch_screen_task.pb.txt @@ -61,10 +61,10 @@ touch_screen_task { } } pbvs { - position_gain { x: 2.0 y: 2.0 z: 1.5 } - rotation_gain { x: 1.5 y: 1.5 z: 1.5 } - vmax6 { x: 0.02 y: 0.02 z: 0.02 rx: 0.050 ry: 0.050 rz: 0.050 } - amax6 { x: 0.50 y: 0.50 z: 0.30 rx: 2.0 ry: 2.0 rz: 2.0 } + position_gain { x: 1.0 y: 2.0 z: 1.0 } + rotation_gain { x: 1.0 y: 1.5 z: 1.0 } + vmax6 { x: 0.04 y: 0.04 z: 0.04 rx: 0.050 ry: 0.050 rz: 0.050 } + amax6 { x: 0.80 y: 0.80 z: 0.80 rx: 2.0 ry: 2.0 rz: 2.0 } twist_filter_alpha: 1.0 } target { @@ -110,9 +110,9 @@ touch_screen_task { retract { twist_tool { x: 0.0 y: 0.08 z: 0.0 rx: 0.0 ry: 0.0 rz: 0.0 } - acceleration: 5.0 - linear_jerk: 10.0 # m/s^3，约束接触后的减速和连续换向。 + acceleration: 8.0 + linear_jerk: 40.0 # m/s^3，约束接触后的减速和连续换向。 # TCP 后退目标距离，单位为米。 - distance_m: 0.03 + distance_m: 0.01 } }