ed231ace2b
Merge branch 'lgv_dev_collision' into dev
2026-07-27 15:41:51 +08:00
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
eb188111b7
Merge branch 'lgv_refator_code' into dev
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# Conflicts:
# request.txt
2026-07-27 10:35:53 +08:00
2cda7be4d4
feat: add EtherCAT DC monitoring and four-motor sync test
2026-07-09 16:17:14 +08:00
5b94d5c85a
feat(manager): initialize EtherCAT motors from DeviceManager
2026-07-09 14:21:44 +08:00
5c8847d334
feat(proto): add EtherCAT CiA402 motor schema
2026-07-09 14:18:59 +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
4629de3d36
Merge branch 'dev' of http://192.168.0.100:18088/smart_bench/cmvr-es into dev
2026-03-17 16:19:58 +08:00
e82a90237d
feat: add touch app
2026-03-17 15:59:25 +08:00
e537194897
update camera encoder
2026-03-17 09:11:29 +08:00
17043684fe
add grpc servoJ function
2026-03-04 17:07:05 +08:00
1cd57c36ea
add calibrateZeroQ
2026-02-25 09:55:53 +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
f7003f0993
update stopAll
2025-12-08 17:15:46 +08:00
f47a93c21f
update
2025-12-04 15:09:46 +08:00
3748b59c3d
feat:head fun1
2025-11-13 20:25:19 +08:00
7d03c0eeaf
feat:add get pose rpc service
2025-11-03 11:44:52 +08:00
3aa3f86027
refactor: move robot gRPC commands and services to separate files
2025-10-10 11:51:00 +08:00
a1d5a6efa0
Merge branch 'lgv_dev_touch' into dev
2025-10-10 11:39:39 +08:00
8afee807f7
feat:add touch api
2025-10-09 16:31:21 +08:00
11f0097521
update
2025-09-25 16:01:01 +08:00
9bf547c2f7
feat:add touch grpc service API
2025-09-01 16:24:08 +08:00
f0b5dfc72d
Merge branch 'lgv_dev_robot' into dev
2025-08-28 09:46:20 +08:00
b2a6be4d34
feat:add move delta J and touch control api
2025-08-28 09:39:59 +08:00
2f96bf9c50
update camera intrinsics
2025-08-27 16:41:48 +08:00
ab5aadd82e
update camera intrinsics
2025-08-27 15:30:51 +08:00
3582d84176
update camera intrinsics
2025-08-25 14:03:11 +08:00
77bd97afb2
feat:add eye hand calibration and pose follow
2025-08-22 16:57:29 +08:00
