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test(touch):finsh touch test

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This commit is contained in:
lgv 2026-09-18 16:40:48 +08:00
parent 7df07fba56
commit 1e2933f330
2 changed files with 8 additions and 8 deletions
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2
cmvr-es/config/devices/arm/arm_qp.pb.txt
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@ -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

14
cmvr-es/config/tasks/touch_screen_task/touch_screen_task.pb.txt
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@ -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
}
}