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feat:Testing the ViSP demo in MuJoCo.

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This commit is contained in:
lgv 2026-02-24 09:18:34 +08:00
parent 18ed229e92
commit 61bbd33be7
5 changed files with 1367 additions and 2493 deletions
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59
cmvr-es/controller/src/controller_test.cpp
View File

@ -152,12 +152,12 @@ protected:
q_home_ = { 0.25, 1.00, M_PI/2 - 0.2, M_PI/2 - 0.2, -M_PI + 0.5, 0.0, 0.0 };
// 5) 坐标轴对齐：site相机系 -> ViSP相机系
// 你现在截图表现是“画面左上”，但 t_co.x,y 是正，说明 x/y 反了
// 先试这个：翻转 x,y
// ViSP（+X 右、+Y 下、+Z 前）
// R_CAM_SITE +X 右、+Y 上、+Z 后
R_cv_ = (Eigen::Matrix3d() <<
-1, 0, 0,
1, 0, 0,
0,-1, 0,
0, 0, 1).finished();
0, 0, -1).finished();
// 6) ViSP IBVS 参数
tag_half_ = 0.06; // 12cm tag -> half 6cm
@ -176,7 +176,10 @@ protected:
// desired: 正对 + 距离 Z_des
{
vpTranslationVector t_des(0.0, 0.0, Z_des_);
vpRotationMatrix R_des; R_des.eye();
// tag 在（相机坐标系visp 相机）下的朝向
vpRotationMatrix R_des;
R_des.buildFrom(M_PI, 0, 0);
vpHomogeneousMatrix cMo_des(t_des, R_des);
for (int i = 0; i < 4; ++i) {
@ -240,6 +243,31 @@ protected:
Eigen::Vector3d p_cw(pc[0], pc[1], pc[2]);
Eigen::Matrix3d R_cw = xmat_to_R(Rc9); // site(cam)->world
Eigen::Matrix3d R_wc = R_cw.transpose(); // world->site(cam)
if ((step_count_ % 120) == 0) {
const Eigen::Vector3d x_w = R_cw.col(0);
const Eigen::Vector3d y_w = R_cw.col(1);
const Eigen::Vector3d z_w = R_cw.col(2);
std::printf("[IBVS] site axes(world): x=[%.3f %.3f %.3f] y=[%.3f %.3f %.3f] z=[%.3f %.3f %.3f]\n",
x_w.x(), x_w.y(), x_w.z(),
y_w.x(), y_w.y(), y_w.z(),
z_w.x(), z_w.y(), z_w.z());
const int cam_id = mj_name2id(m, mjOBJ_CAMERA, "hand_cam");
if (cam_id >= 0) {
const mjtNum* Rc9_cam = d->cam_xmat + 9 * cam_id;
Eigen::Matrix3d R_cam_w = xmat_to_R(Rc9_cam); // cam->world
Eigen::Matrix3d R_rel = R_cam_w.transpose() * R_cw; // cam <- site
std::printf("[IBVS] cam<-site:\n"
"%.3f %.3f %.3f\n"
"%.3f %.3f %.3f\n"
"%.3f %.3f %.3f\n",
R_rel(0,0), R_rel(0,1), R_rel(0,2),
R_rel(1,0), R_rel(1,1), R_rel(1,2),
R_rel(2,0), R_rel(2,1), R_rel(2,2));
} else {
std::printf("[IBVS] cam<-site: hand_cam not found\n");
}
}
// 2) tag_board body pose in world
const mjtNum* po = d->xpos + 3 * tag_body_id_;
@ -255,6 +283,15 @@ protected:
Eigen::Matrix3d R_co = R_cv_ * R_co_site;
Eigen::Vector3d t_co = R_cv_ * t_co_site;
if ((step_count_ % 120) == 0) {
const Eigen::Vector3d z_site = R_co_site.col(2); // tag +Z in site(cam) frame
const Eigen::Vector3d z_visp = R_co.col(2); // tag +Z in ViSP frame
std::printf("[IBVS] tag +Z (site) = [%.3f %.3f %.3f]\n",
z_site.x(), z_site.y(), z_site.z());
std::printf("[IBVS] tag +Z (visp) = [%.3f %.3f %.3f]\n",
z_visp.x(), z_visp.y(), z_visp.z());
}
if ((step_count_ % 60) == 0) {
std::printf("[IBVS] t_co = [%.3f %.3f %.3f]\n", t_co.x(), t_co.y(), t_co.z());
}
@ -481,15 +518,15 @@ protected:
// 6) 坐标对齐（site相机系 -> ViSP相机系）
// 这就是你之前验证过能收敛的那套：x/y 同时翻转
R_cv_ = (Eigen::Matrix3d() <<
-1, 0, 0,
1, 0, 0,
0,-1, 0,
0, 0, 1).finished();
0, 0, -1).finished();
// 7) IBVS 任务：用 AprilTag 的 4 个角点特征
tag_size_m_ = 0.12; // 12cm
tag_half_ = tag_size_m_ * 0.5;
Z_des_ = 0.60;
lambda_ = 0.7;
Z_des_ = 0.28;
lambda_ = 1.7;
task_.setServo(vpServo::EYEINHAND_CAMERA);
task_.setInteractionMatrixType(vpServo::CURRENT);
@ -504,7 +541,9 @@ protected:
// desired: 正对 + 距离 Z_des
{
vpTranslationVector t_des(0.0, 0.0, Z_des_);
vpRotationMatrix R_des; R_des.eye();
// tag 在（相机坐标系visp 相机）下的朝向
vpRotationMatrix R_des;
R_des.buildFrom(M_PI, 0, 0);
vpHomogeneousMatrix cMo_des(t_des, R_des);
for (int i = 0; i < 4; ++i) {

2
cmvr-es/ik_solver/src/srs_ik_test.cpp
View File

@ -751,7 +751,7 @@ TEST(SRS_IK_TEST, MOVE_L_PLANNER_TEST) {
solver.fk(joint_angles, target_pose, true);
// 直线插补：从 target_pose 出发沿 X 方向 L 米，共 N 段
const int N = 200;
const int N = 100;
const double L = 0.40;
Eigen::Vector3d dir = Eigen::Vector3d::UnitZ();
dir.normalize();

300
data/ik_psi_sweep.csv
View File

@ -1,203 +1,103 @@
psi,q1,q2,q3,q4,q5,q6,q7
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0.000000000,0.927640138,0.954799864,1.594002738,1.668688279,-1.664562297,-0.651356804,0.448129010
0.000000000,0.944389263,0.950962871,1.586328141,1.662764367,-1.662656023,-0.658967240,0.451151730
0.000000000,0.961280840,0.947091648,1.578368518,1.656585710,-1.660527881,-0.666391510,0.453973856
0.000000000,0.978315892,0.943180054,1.570111366,1.650152492,-1.658153633,-0.673627579,0.456579822
0.000000000,0.995496089,0.939221090,1.561542605,1.643464853,-1.655506748,-0.680673369,0.458952695
0.000000000,1.012823845,0.935206759,1.552646297,1.636522881,-1.652558040,-0.687526736,0.461073963
0.000000000,1.030302440,0.931127878,1.543404295,1.629326610,-1.649275219,-0.694185418,0.462923254
0.000000000,1.047936176,0.926973853,1.533795817,1.621876006,-1.645622328,-0.700646988,0.464477991
0.000000000,1.065730561,0.922732386,1.523796906,1.614170968,-1.641559029,-0.706908786,0.465712951
0.000000000,1.083692554,0.918389107,1.513379738,1.606211315,-1.637039693,-0.712967830,0.466599700
0.000000000,1.101830876,0.913927084,1.502511740,1.597996782,-1.632012213,-0.718820707,0.467105851
0.000000000,1.120156419,0.909326184,1.491154418,1.589527011,-1.626416436,-0.724463425,0.467194083
0.000000000,1.138682798,0.904562192,1.479261792,1.580801542,-1.620182049,-0.729891211,0.466820811
0.000000000,1.157427105,0.899605606,1.466778240,1.571819806,-1.613225670,-0.735098239,0.465934343
0.000000000,1.176410979,0.894419909,1.453635467,1.562581117,-1.605446716,-0.740077241,0.464472264
0.000000000,1.195662151,0.888959033,1.439748081,1.553084658,-1.596721390,-0.744818931,0.462357595
0.000000000,1.215216798,0.883163482,1.425006900,1.543329478,-1.586893523,-0.749311146,0.459492942
0.000000000,1.235123255,0.876954104,1.409268321,1.533314474,-1.575760011,-0.753537467,0.455751127
0.000000000,1.255448263,0.870221463,1.392336377,1.523038388,-1.563046115,-0.757474890,0.450959249
0.000000000,1.276288348,0.862806113,1.373929862,1.512499789,-1.548360039,-0.761089599,0.444869241
0.000000000,1.297792967,0.854457505,1.353614810,1.501697063,-1.531099115,-0.764328345,0.437096768
0.000000000,1.320220447,0.844731574,1.330639088,1.490628400,-1.510218250,-0.767097764,0.426969688
0.000000000,1.344122768,0.832637397,1.303373985,1.479291780,-1.483439705,-0.769197089,0.413007932
0.000000000,1.372176117,0.812824123,1.263512337,1.467684957,-1.438859775,-0.769683022,0.387351392
0.000000000,1.494443255,0.669156817,0.996008310,1.455805443,-1.114600767,-0.725446922,0.181188520
0.000000000,1.626547749,0.592950576,0.776782227,1.443650491,-0.922836322,-0.673937176,0.071591346
0.000000000,2.100430816,0.491066528,0.077309447,1.431217073,-0.514544679,-0.483150111,-0.123632958
0.000000000,2.365350127,0.512877934,-0.291475264,1.418501865,-0.346918544,-0.375976291,-0.172018050
0.000000000,2.516288627,0.552648293,-0.509066817,1.405501217,-0.242743156,-0.304586843,-0.188024970
0.000000000,2.607176401,0.591806709,-0.646436925,1.392211136,-0.169808290,-0.254827762,-0.191011844
0.000000000,2.665131522,0.626316077,-0.737895064,1.378627251,-0.115755150,-0.219629012,-0.187716312
0.000000000,2.703785254,0.655790511,-0.800984596,1.364744791,-0.074386128,-0.194777824,-0.181111460
0.000000000,2.730411150,0.680800830,-0.845423696,1.350558545,-0.042079013,-0.177514617,-0.172676004
0.000000000,2.749143292,0.702104443,-0.877003536,1.336062830,-0.016504464,-0.165929797,-0.163194995
0.000000000,2.762462080,0.720412743,-0.899381647,1.321251451,0.003927050,-0.158659225,-0.153100052
0.000000000,2.771921523,0.736327095,-0.914968754,1.306117653,0.020338041,-0.154711486,-0.142632297
0.000000000,2.778527174,0.750330895,-0.925398526,1.290654072,0.033533142,-0.153361372,-0.131926730
0.000000000,2.782942767,0.762799412,-0.931790729,1.274852680,0.044086636,-0.154080707,-0.121058229
0.000000000,2.785607142,0.774012973,-0.934903043,1.258704719,0.052394749,-0.156493010,-0.110067545
0.000000000,2.786799873,0.784166872,-0.935214655,1.242200634,0.058702859,-0.160346249,-0.098976515
0.000000000,2.786671611,0.793372025,-0.932954544,1.225329985,0.063106151,-0.165504603,-0.087797590
0.000000000,2.785234452,0.801631739,-0.928048485,1.208081362,0.065499199,-0.171974808,-0.076541380
0.000000000,2.782236331,0.808719992,-0.919788415,1.190442273,0.065330290,-0.180061318,-0.065229292

1 psi q1 q2 q3 q4 q5 q6 q7
2 0.000000000 0.293251835 0.758274585 1.296200413 1.570796327 -1.328603785 0.029738090 -0.243184799
3 0.000000000 0.250086584 0.987999944 1.558700421 1.570796327 -1.558796269 0.000072292 -0.012048253
4 0.000000000 0.253465442 0.255988373 1.040302054 1.039014972 1.613445935 1.614825493 1.575333670 1.579806848 -1.611189364 -1.610006057 -0.005729065 -0.012320588 0.044670600 0.047584633
5 0.000000000 0.258397998 0.263738451 1.073557197 1.070978698 1.648079069 1.650416613 1.579806848 1.588561031 -1.644698758 -1.642529617 -0.010356407 -0.023598925 0.082276145 0.088116949
6 0.000000000 0.263491802 0.271873967 1.096352790 1.092433517 1.672068598 1.675088055 1.584215943 1.597059459 -1.667852826 -1.664800242 -0.014921251 -0.034833669 0.109390999 0.118132688
7 0.000000000 0.268378107 0.279993201 1.112398797 1.107060286 1.689344560 1.692835178 1.588561031 1.605302602 -1.684328531 -1.680434327 -0.019732652 -0.046317740 0.129738884 0.141326779
8 0.000000000 0.272967220 0.287989695 1.123752893 1.116906197 1.702024567 1.705818070 1.592842183 1.613290830 -1.696162824 -1.691436336 -0.024866749 -0.058118576 0.145384712 0.159752608
9 0.000000000 0.277266039 0.295862560 1.131718414 1.123276536 1.711421556 1.715381654 1.597059459 1.621024417 -1.704645392 -1.699082052 -0.030315409 -0.070221665 0.157636178 0.174718480
10 0.000000000 0.281315722 0.303650316 1.137186223 1.127071072 1.718418668 1.722433967 1.601212916 1.628503554 -1.710658033 -1.704250785 -0.036039713 -0.082582541 0.167386979 0.187125657
11 0.000000000 0.285166582 0.311403426 1.140792607 1.128938041 1.723638871 1.727617002 1.605302602 1.635728351 -1.714831096 -1.707576794 -0.041992388 -0.095148894 0.175275336 0.197623074
12 0.000000000 0.288867440 0.319172177 1.143003561 1.129355957 1.727533812 1.731396352 1.609328561 1.642698847 -1.717626814 -1.709529321 -0.048127614 -0.107870361 0.181768608 0.206689521
13 0.000000000 0.292461383 0.327001568 1.144165209 1.128682663 1.730436057 1.734114224 1.613290830 1.649415017 -1.719389056 -1.710460309 -0.054404990 -0.120702522 0.187213917 0.214682876
14 0.000000000 0.295984556 0.334929600 1.144536657 1.127187530 1.732592620 1.736023743 1.617189440 1.655876779 -1.720375699 -1.710635613 -0.060790700 -0.133608026 0.191871115 0.221872417
15 0.000000000 0.299466337 0.342987223 1.144312696 1.125073976 1.734187838 1.737312570 1.621024417 1.662083998 -1.720780990 -1.710256762 -0.067257329 -0.146556345 0.195935563 0.228461380
16 0.000000000 0.302930112 0.351199005 1.143640102 1.122495816 1.735359606 1.738119795 1.624795783 1.668036495 -1.720751596 -1.709476755 -0.073783125 -0.159522942 0.199554486 0.234603323
17 0.000000000 0.306394230 0.359584067 1.142629597 1.119569400 1.736211195 1.738548298 1.628503554 1.673734051 -1.720398402 -1.708411794 -0.080351076 -0.172488257 0.202838959 0.240414269
18 0.000000000 0.309872939 0.368157040 1.141364756 1.116382731 1.736819969 1.738673894 1.632147741 1.679176414 -1.719805291 -1.707150108 -0.086948016 -0.185436723 0.205872840 0.245981813
19 0.000000000 0.313377213 0.376928930 1.139908675 1.113002351 1.737243867 1.738552158 1.635728351 1.684363303 -1.719035739 -1.705758636 -0.093563822 -0.198355902 0.208719454 0.251371994
20 0.000000000 0.316915457 0.385907859 1.138308996 1.109478551 1.737526257 1.738223522 1.639245386 1.689294415 -1.718137787 -1.704288097 -0.100190749 -0.211235758 0.211426623 0.256634498
21 0.000000000 0.320494077 0.395099674 1.136601686 1.105849326 1.737699559 1.737717086 1.642698847 1.693969430 -1.717147791 -1.702776843 -0.106822881 -0.224068075 0.214030459 0.261806598
22 0.000000000 0.324117935 0.404508435 1.134813899 1.102143365 1.737787974 1.737053485 1.646088726 1.698388013 -1.716093263 -1.701253790 -0.113455706 -0.236845997 0.216558228 0.266916135
23 0.000000000 0.327790708 0.414136803 1.132966132 1.098382318 1.737809530 1.736247022 1.649415017 1.702549822 -1.714995021 -1.699740642 -0.120085775 -0.249563673 0.219030511 0.271983784
24 0.000000000 0.331515163 0.423986337 1.131073854 1.094582519 1.737777615 1.735307279 1.652677706 1.706454512 -1.713868808 -1.698253586 -0.126710442 -0.262215985 0.221462840 0.277024758
25 0.000000000 0.335293376 0.434057733 1.129148738 1.090756279 1.737702136 1.734240314 1.655876779 1.710101737 -1.712726534 -1.696804573 -0.133327671 -0.274798348 0.223866927 0.282050110
26 0.000000000 0.339126896 0.444351000 1.127199592 1.086912872 1.737590378 1.733049564 1.659012217 1.713491156 -1.711577198 -1.695402288 -0.139935878 -0.287306549 0.226251600 0.287067707
27 0.000000000 0.343016867 0.454865600 1.125233058 1.083059277 1.737447665 1.731736521 1.662083998 1.716622436 -1.710427599 -1.694052891 -0.146533817 -0.299736642 0.228623506 0.292082973
28 0.000000000 0.346964128 0.465600556 1.123254143 1.079200740 1.737277841 1.730301233 1.665092100 1.719495256 -1.709282869 -1.692760573 -0.153120499 -0.312084859 0.230987644 0.297099447
29 0.000000000 0.350969285 0.476554530 1.121266623 1.075341197 1.737083643 1.728742686 1.668036495 1.722109308 -1.708146877 -1.691527975 -0.159695121 -0.324347551 0.233347764 0.302119203
30 0.000000000 0.355032765 0.487725892 1.119273341 1.071483594 1.736866975 1.727059085 1.670917156 1.724464304 -1.707022534 -1.690356506 -0.166257017 -0.336521147 0.235706676 0.307143172
31 0.000000000 0.359154859 0.499112764 1.117276440 1.067630128 1.736629116 1.725248068 1.673734051 1.726559977 -1.705912028 -1.689246578 -0.172805626 -0.348602123 0.238066471 0.312171376
32 0.000000000 0.363335755 0.510713060 1.115277530 1.063782427 1.736370876 1.723306861 1.676487149 1.728396080 -1.704816995 -1.688197785 -0.179340458 -0.360586981 0.240428704 0.317203110
33 0.000000000 0.367575558 0.522524521 1.113277822 1.059941686 1.736092714 1.721232401 1.679176414 1.729972396 -1.703738654 -1.687209035 -0.185861080 -0.372472236 0.242794517 0.322237077
34 0.000000000 0.371874312 0.534544733 1.111278225 1.056108769 1.735794825 1.719021417 1.681801811 1.731288730 -1.702677907 -1.686278642 -0.192367094 -0.384254413 0.245164741 0.327271485
35 0.000000000 0.376232012 0.546771154 1.109279422 1.052284283 1.735477205 1.716670501 1.684363303 1.732344920 -1.701635416 -1.685404400 -0.198858131 -0.395930036 0.247539970 0.332304123
36 0.000000000 0.380648616 0.559201127 1.107281921 1.048468638 1.735139706 1.714176151 1.686860851 1.733140834 -1.700611658 -1.684583632 -0.205333838 -0.407495635 0.249920618 0.337332416
37 0.000000000 0.385124048 0.571831898 1.105286104 1.044662081 1.734782066 1.711534803 1.689294415 1.733676370 -1.699606968 -1.683813219 -0.211793876 -0.418947745 0.252306963 0.342353460
38 0.000000000 0.389658210 0.584660631 1.103292254 1.040864731 1.734403944 1.708742859 1.691663955 1.733951461 -1.698621577 -1.683089626 -0.218237911 -0.430282909 0.254699172 0.347364055
39 0.000000000 0.394250983 0.597684419 1.101300579 1.037076596 1.734004936 1.705796700 1.693969430 1.733966070 -1.697655628 -1.682408914 -0.224665612 -0.441497685 0.257097336 0.352360718
40 0.000000000 0.398902232 0.610900294 1.099311236 1.033297589 1.733584594 1.702692691 1.696210796 1.733720196 -1.696709203 -1.681766743 -0.231076652 -0.452588650 0.259501477 0.357339699
41 0.000000000 0.403611805 0.624305246 1.097324336 1.029527534 1.733142437 1.699427191 1.698388013 1.733213871 -1.695782333 -1.681158373 -0.237470699 -0.463552406 0.261911573 0.362296987
42 0.000000000 0.408379539 0.637896229 1.095339961 1.025766171 1.732677959 1.695996545 1.700501036 1.732447159 -1.694875007 -1.680578657 -0.243847421 -0.474385588 0.264327558 0.367228309
43 0.000000000 0.413205259 0.651670177 1.093358170 1.022013159 1.732190637 1.692397084 1.702549822 1.731420157 -1.693987182 -1.680022034 -0.250206482 -0.485084869 0.266749336 0.372129135
44 0.000000000 0.418088782 0.665624013 1.091379001 1.018268070 1.731679938 1.688625114 1.704534328 1.730132995 -1.693118789 -1.679482514 -0.256547541 -0.495646969 0.269176785 0.376994668
45 0.000000000 0.423029913 0.679754666 1.089402483 1.014530388 1.731145317 1.684676908 1.706454512 1.728585833 -1.692269738 -1.678953666 -0.262870253 -0.506068658 0.271609762 0.381819839
46 0.000000000 0.428028450 0.694059081 1.087428633 1.010799499 1.730586226 1.680548687 1.708310329 1.726778859 -1.691439917 -1.678428593 -0.269174269 -0.516346765 0.274048106 0.386599302
47 0.000000000 0.433084180 0.708534235 1.085457461 1.007074690 1.730002114 1.676236604 1.710101737 1.724712290 -1.690629200 -1.677899921 -0.275459235 -0.526478180 0.276491639 0.391327420
48 0.000000000 0.438196886 0.723177151 1.083488969 1.003355132 1.729392427 1.671736728 1.711828693 1.722386368 -1.689837443 -1.677359766 -0.281724790 -0.536459865 0.278940169 0.395998254
49 0.000000000 0.443366340 0.737984914 1.081523160 0.999639870 1.728756612 1.667045013 1.713491156 1.719801360 -1.689064490 -1.676799709 -0.287970569 -0.546288853 0.281393494 0.400605546
50 0.000000000 0.448592309 0.752954685 1.079560029 0.995927815 1.728094116 1.662157278 1.715089084 1.716957551 -1.688310171 -1.676210771 -0.294196203 -0.555962255 0.283851396 0.405142707
51 0.000000000 0.453874551 0.768083722 1.077599570 0.992217722 1.727404387 1.657069170 1.716622436 1.713855246 -1.687574303 -1.675583372 -0.300401317 -0.565477262 0.286313650 0.409602793
52 0.000000000 0.459212817 0.783369395 1.075641776 0.988508177 1.726686877 1.651776134 1.718091173 1.710494765 -1.686856690 -1.674907295 -0.306585531 -0.574831149 0.288780018 0.413978486
53 0.000000000 0.464606853 0.798809209 1.073686638 0.984797578 1.725941037 1.646273371 1.719495256 1.706876441 -1.686157123 -1.674171643 -0.312748460 -0.584021275 0.291250252 0.418262065
54 0.000000000 0.470056396 0.814400823 1.071734146 0.981084112 1.725166323 1.640555793 1.720834646 1.703000613 -1.685475382 -1.673364789 -0.318889717 -0.593045081 0.293724094 0.422445385
55 0.000000000 0.475561177 0.830142072 1.069784288 0.977365730 1.724362193 1.634617972 1.722109308 1.698867628 -1.684811232 -1.672474319 -0.325008908 -0.601900097 0.296201277 0.426519837
56 0.000000000 0.481120921 0.846030997 1.067837053 0.973640121 1.723528109 1.628454085 1.723319205 1.694477829 -1.684164426 -1.671486965 -0.331105636 -0.610583929 0.298681522 0.430476311
57 0.000000000 0.486735346 0.862065868 1.065892426 0.969904679 1.722663535 1.622057843 1.724464304 1.689831562 -1.683534705 -1.670388532 -0.337179500 -0.619094267 0.301164541 0.434305155
58 0.000000000 0.492404163 0.878245218 1.063950395 0.966156464 1.721767939 1.615422418 1.725544572 1.684929159 -1.682921792 -1.669163810 -0.343230095 -0.627428869 0.303650037 0.437996122
59 0.000000000 0.498127079 0.894567874 1.062010945 0.962392163 1.720840791 1.608540356 1.726559977 1.679770945 -1.682325401 -1.667796471 -0.349257014 -0.635585563 0.306137702 0.441538309
60 0.000000000 0.503903791 0.911032999 1.060074059 0.958608037 1.719881567 1.601403472 1.727510489 1.674357224 -1.681745228 -1.666268948 -0.355259846 -0.643562232 0.308627215 0.444920085
61 0.000000000 0.509733994 0.927640138 1.058139722 0.954799864 1.718889742 1.594002738 1.728396080 1.668688279 -1.681180955 -1.664562297 -0.361238176 -0.651356804 0.311118249 0.448129010
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0.000000000 2.797408187 0.760257319 -0.972403901 1.306117653 0.058837290 -0.125064613 -0.141446493
0.000000000 2.798032868 0.764922302 -0.971981875 1.298427571 0.061884369 -0.127317298 -0.136112440
0.000000000 2.798406669 0.769410038 -0.971104607 1.290654072 0.064591363 -0.129811408 -0.130758727
0.000000000 2.798552850 0.773742953 -0.969818877 1.282796132 0.066986084 -0.132520482 -0.125384851
0.000000000 2.798487435 0.777936917 -0.968155901 1.274852680 0.069086291 -0.135426181 -0.119990354
0.000000000 2.798220556 0.782002394 -0.966133929 1.266822598 0.070901208 -0.138516863 -0.114574872
0.000000000 2.797757309 0.785945198 -0.963759823 1.258704719 0.072432413 -0.141786679 -0.109138168
0.000000000 2.797098167 0.789766875 -0.961029705 1.250497823 0.073674114 -0.145235131 -0.103680159
0.000000000 2.796238957 0.793464703 -0.957928611 1.242200634 0.074612768 -0.148867120 -0.098200960
0.000000000 2.795170316 0.797031226 -0.954428902 1.233811819 0.075225829 -0.152693594 -0.092700939
0.000000000 2.793876377 0.800453094 -0.950486827 1.225329985 0.075479184 -0.156733077 -0.087180827
0.000000000 2.792332142 0.803708734 -0.946035827 1.216753674 0.075322264 -0.161014721 -0.081641890
0.000000000 2.790498181 0.806763593 -0.940973234 1.208081362 0.074678409 -0.165584475 -0.076086289
0.000000000 2.788308900 0.809559580 -0.935131048 1.199311452 0.073423810 -0.170518739 -0.070517853
0.000000000 2.785641028 0.811986546 -0.928197821 1.190442273 0.071331413 -0.175961122 -0.064944180

3494
data/planner/traj.csv
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File diff suppressed because it is too large Load Diff

5
model/xiaoyan_description/dual_arm.xml
View File

@ -66,7 +66,7 @@
</asset>
<worldbody>
<body name="tag_board" pos="0.7 -0.2 1.1" euler="1.57 1.87 0.26">
<body name="tag_board" pos="0.7 -0.2 1.1" euler="1.57 -1.57 0">
<!-- 12cm x 12cm，厚1mm；contype=0 防止碰撞干扰 -->
<geom name="tag_geom"
type="box"
@ -168,9 +168,10 @@
rgba="0 1 1 1"/>
<!-- 相机 marker site（URDF: R_CAM_FIXED xyz+rpy） -->
<!-- 相机看向前方时，R_CAM_SITE 的 -Z 指向前方 -->
<site name="R_CAM_SITE"
pos="-0.01212 -0.17655 0.07506"
quat="3.17467e-11 -3.17467e-11 -0.707107 0.707107"
quat="3.17467e-11 -3.17467e-11 0.707107 0.707107"
size="0.006"
rgba="0 1 0 1"/>