0257ac85ca
feat(collision): add self-collision monitoring task
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Add Pinocchio and Coal based self-collision checking with collision-pair filtering and displacement-based sampling. Integrate a periodic safety task with warning and stop thresholds, plus the simplified collision URDF and runtime configuration.
2026-07-27 15:37:39 +08:00
a5afef198d
Merge branch 'dev' of http://192.168.28.10:18088/SmartBench/cmvr-es into dev
2026-07-01 10:44:38 +08:00
9b6f1b8d21
增加华沿机器人机械臂组建并完成测试
2026-07-01 09:02:11 +08:00
5e53e017a5
refactor(task): update service and task wiring
2026-06-30 16:06:14 +08:00
7e803452e1
refactor(motion): consolidate IK and motion planners
2026-06-30 16:05:25 +08:00
ca19449545
refactor(camera): unify camera devices
2026-06-30 16:04:59 +08:00
80c8969ce9
refactor(motor): introduce MotorManager and bus runtimes
2026-06-30 16:04:36 +08:00
25d44d5fec
refactor(mujoco): split world and viewer runtime
2026-06-30 16:03:00 +08:00
c7f31708cb
feat: add grpc debug log
2026-06-25 11:03:38 +08:00
181e14c7ef
refactor:Refactor all the code
2026-06-24 15:45:54 +08:00
fb304df94c
Revert "update proto config"
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This reverts commit 9fb185b5a8
2026-06-02 11:31:42 +08:00
9fb185b5a8
update proto config
2026-05-11 16:49:22 +08:00
b050942838
feat: add px 6ax gen3 as touch pressure sensor
2026-05-08 16:58:52 +08:00
7148e1baf2
feat:add ibvs acc limit
2026-03-30 13:39:14 +08:00
d02d23a3f9
fix: improve RH56 tactile data read speed
2026-03-30 10:53:07 +08:00
9faa2a3852
feat:add touch align_mode
2026-03-27 15:19:30 +08:00
4f84994e6b
fix:touch app tag rotation
2026-03-26 16:23:27 +08:00
baf883bc27
fix: add touch by distance
2026-03-26 15:35:00 +08:00
96aca18525
fix: cam code
2026-03-18 10:12:22 +08:00
e82a90237d
feat: add touch app
2026-03-17 15:59:25 +08:00
d671729e1c
update uvc_camera ffmpeg encoder
2026-02-24 09:35:58 +08:00
c0668fe5fb
update config file
2026-02-04 10:17:01 +08:00
4085835277
feat: add proto config for camera&hand&micophone
2026-01-21 16:30:13 +08:00
6a060ead1d
feat:add rpath and proto read write config
2026-01-16 15:06:12 +08:00
0aedb8eb54
Catalog structure and dependent libraries.
2026-01-14 14:04:07 +08:00
5880a20fce
add ik solver s w e config
2025-12-12 10:01:14 +08:00
