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fix : fix motor init vel set

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This commit is contained in:
lgv 2026-06-25 09:09:12 +08:00
parent 9deb6c5383
commit 693fa0ab76
2 changed files with 12 additions and 6 deletions
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10
cmvr-es/config/devices/motor/ti5_motors.pb.txt
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@ -29,9 +29,15 @@ motor {
channel_id: 1 channel_id: 1
} }
joint_limits { joint_limits {
source: JOINT_LIMIT_SOURCE_URDF source: JOINT_LIMIT_SOURCE_CUSTOM
joints { joint_name: "R_SHOULDER_P" lower: -3.14 upper: 3.14 velocity: 5.0 }
joints { joint_name: "R_SHOULDER_R" lower: -0.78 upper: 1.57 velocity: 5.0 }
joints { joint_name: "R_SHOULDER_Y" lower: -3.14 upper: 3.14 velocity: 5.0 }
joints { joint_name: "R_ELBOW_R" lower: 0 upper: 2.05 velocity: 5.0 }
joints { joint_name: "R_WRIST_P" lower: -3.14 upper: 3.14 velocity: 5.0 }
joints { joint_name: "R_WRIST_Y" lower: -0.78 upper: 0.78 velocity: 5.0 }
joints { joint_name: "R_WRIST_R" lower: -0.57 upper: 1.57 velocity: 5.0 }
} }
joint_limits_urdf_path: "model/xiaoyan_description/dual_arm.urdf"
motors { id: 16 joint_name: "R_SHOULDER_P" } motors { id: 16 joint_name: "R_SHOULDER_P" }
motors { id: 17 joint_name: "R_SHOULDER_R" } motors { id: 17 joint_name: "R_SHOULDER_R" }
motors { id: 18 joint_name: "R_SHOULDER_Y" } motors { id: 18 joint_name: "R_SHOULDER_Y" }

8
cmvr-es/config/manager/device_manager.pb.txt
View File

@ -21,7 +21,7 @@ device_manager {
id: "paxini_tip_1" id: "paxini_tip_1"
type: DEVICE_TYPE_DEXHAND type: DEVICE_TYPE_DEXHAND
config_file: "devices/dexhand/dexhand.pb.txt" config_file: "devices/dexhand/dexhand.pb.txt"
enable: true enable: false
} }
devices { devices {
@ -42,20 +42,20 @@ device_manager {
id: "aubo_arm" id: "aubo_arm"
type: DEVICE_TYPE_ROBOT_ARM type: DEVICE_TYPE_ROBOT_ARM
config_file: "devices/arm/aubo_arm.pb.txt" config_file: "devices/arm/aubo_arm.pb.txt"
enable: true enable: false
} }
devices { devices {
id: "bio_head" id: "bio_head"
type: DEVICE_TYPE_BIO_HEAD_ROBOT type: DEVICE_TYPE_BIO_HEAD_ROBOT
config_file: "devices/biohead/bio_head.pb.txt" config_file: "devices/biohead/bio_head.pb.txt"
enable: true enable: false
} }
devices { devices {
id: "agv_1" id: "agv_1"
type: DEVICE_TYPE_AGV type: DEVICE_TYPE_AGV
config_file: "devices/agv/agv.pb.txt" config_file: "devices/agv/agv.pb.txt"
enable: true enable: false
} }
} }