SmartBench/cmvr-es
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Author SHA1 Message Date
linbo
ee08994f6e log grpc client peer for RGB snapshots 2026-09-20 16:56:17 +08:00
linbo
d7c2d439a4 fix(quic): restore device inventory heartbeat 2026-09-20 15:03:35 +08:00
linbo
7ecf0324f1 fix(config): preserve dev camera definitions 2026-09-20 14:31:15 +08:00
linbo
b9b6088800 feat: add camera audio and QUIC streaming 2026-09-20 13:58:20 +08:00
lgv
9d27f903cd Merge branch 'lgv_dev' into dev 2026-09-18 17:12:19 +08:00
lgv
1e2933f330 test(touch):finsh touch test 2026-09-18 16:40:48 +08:00
lgv
7df07fba56 fix(touch): detect stopped speedL controller during touch 2026-09-18 16:39:40 +08:00
lgv
d51ceab46e fix(touch): restore streaming direction tracking during alignment 2026-09-18 15:31:10 +08:00
xtkuang
dd86f417c4 add typed aubo cabinet io interfaces 2026-09-18 15:22:50 +08:00
lgv
ffccdea26d fix(touch): improve reversal planning and enforce speedL limits 
Preserve acceleration through same-axis velocity reversal and submit retract
commands immediately after zero-dwell tactile contact. Capture the applied
command's TCP reference and measure signed retract progress, with logging of
the maximum sampled forward displacement after reversal starts.

Support per-command linear jerk in both touch.speed_l and retract, and cap
requested acceleration and jerk at the configured arm limits. Protect command
snapshots and stop completion against newer speedL submissions. Include the
current QP arm and retract parameter tuning and remove an obsolete config field.

Add headless actuator-driven MuJoCo reversal measurement and focused regression
coverage for reversal continuity, controller concurrency, limit enforcement,
and touch jerk configuration.

Validation: cmvr_es and touch_screen_task_test build successfully; 18 focused
regression tests pass, along with headless MuJoCo reversal checks.
 2026-09-18 14:40:39 +08:00
lgv
149d8cdb5d fix(touch): validate tactile readings and use newton thresholds 2026-09-18 13:51:13 +08:00
lgv
96e3bcf624 fix(touch): separate camera display thread and improve touch workflow 2026-09-18 12:45:55 +08:00
xtkuang
b7faae8b77 configure aubo arm and seer agv 2026-09-17 18:06:03 +08:00
xtkuang
77c6def8ca verify active arm motion before stop all tests 2026-09-17 17:57:15 +08:00
xtkuang
c3c58f4563 fix aubo stop all motion cancellation 2026-09-17 17:42:20 +08:00
xtkuang
8ac589d607 implement aubo speed motion commands 2026-09-17 16:46:02 +08:00
xtkuang
aa2c82cba1 fix aubo state queries and remote motion tests 2026-09-17 16:28:37 +08:00
xtkuang
d15d381b1d add grpc action queue support 2026-09-16 14:33:49 +08:00
xtkuang
9d5a40c4f8 add aubo huayan and seer device support 2026-09-16 14:11:37 +08:00
lgv
dbac432565 fix(speedl):fix speedl stop overshoot 2026-09-15 14:50:21 +08:00
lgv
141e9813c2 Merge branch 'lgv_dev_touch_v2' into lgv_dev 2026-09-15 10:43:46 +08:00
lgv
964b0457ca feat:add pbvs touch 2026-09-15 10:42:56 +08:00
lgv
29a899b305 fix(ti5 motors):can send & rec bug 2026-09-11 20:03:46 +08:00
lgv
6bfe01b854 feat(touch): support target pose offsets 2026-09-09 17:47:47 +08:00
lgv
181fb15591 feat(touch): add eye-to-hand PBVS MuJoCo support 2026-09-09 17:28:24 +08:00
lgv
f768960ff2 feat(motor): initialize motor groups by device entry 2026-09-04 13:05:14 +08:00
lgv
708c585f28 fix(camera): decouple MuJoCo rendering and camera reads 2026-09-04 11:07:01 +08:00
lgv
724da3d000 fix(touch): support repeated MuJoCo touch runs 2026-09-04 11:03:14 +08:00
lgv
e05a03e075 fix(mujoco): prevent viewer PiP flicker 2026-09-04 11:01:04 +08:00
lgv
2cfe354c07 feat(gen2): add MuJoCo collision recovery support 
(cherry picked from commit 78fd7d7a04)
 2026-09-03 15:13:19 +08:00
lgv
944faea389 build(ethercat): add modules for kernel 6.8.0-136 
(cherry picked from commit 69c1f62446)
 2026-09-03 15:13:18 +08:00
lgv
411aa00187 fix(ethercat): restrict master device access 
(cherry picked from commit 4bd4645631)
 2026-09-03 15:13:18 +08:00
lgv
d021fea112 fix(aubo): isolate AUBO SDK runtime libraries 
(cherry picked from commit 59e31cbfde)
 2026-09-03 15:13:18 +08:00
lgv
0c381644c9 test(ethercat): strengthen real motor trajectory coverage 
(cherry picked from commit 2ca03d88da)
 2026-09-03 15:12:26 +08:00
lgv
1d811b49fd fix(eyou): make zero calibration transactional 
(cherry picked from commit abe69c46f0)
 2026-09-03 15:12:26 +08:00
lgv
1d07f32479 fix(ethercat): synchronize motor commands and status handling 
(cherry picked from commit 3ac7db50fd)
 2026-09-03 15:12:26 +08:00
lgv
7be96ca383 fix: avoid vendor libstdc++ conflicts 
(cherry picked from commit c43bab8d4c)
 2026-09-03 15:12:26 +08:00
lgv
0b05bc1b11 feat: add EtherCAT DC monitoring and four-motor sync test 
(cherry picked from commit 2cda7be4d4)
 2026-09-03 15:12:26 +08:00
lgv
ffef8db559 docs(ethercat): add EYOU setup guide and scripts 
(cherry picked from commit d84f84b5ee)
 2026-09-03 15:12:26 +08:00
lgv
41c5d1f442 feat(manager): initialize EtherCAT motors from DeviceManager 
(cherry picked from commit 5b94d5c85a)
 2026-09-03 15:12:11 +08:00
lgv
6771889a67 feat(motor): add EYOU EtherCAT CiA402 driver 
(cherry picked from commit dc0831eb71)
 2026-09-03 15:12:11 +08:00
lgv
ac5c743dec feat(ethercat): add motor bus runtime 
(cherry picked from commit c9c7e43a70)
 2026-09-03 15:12:11 +08:00
lgv
1587f4d292 refactor(motor): unify motor command interface 
(cherry picked from commit d292360a8d)
 2026-09-03 15:12:11 +08:00
lgv
0b44ecfc7a feat(proto): add EtherCAT CiA402 motor schema 
(cherry picked from commit 5c8847d334)
 2026-09-03 15:12:11 +08:00
lgv
4e9bd398f1 feat(collision): add collision primitive generation tools 
Add URDF and USD collision primitive generation, MeshCat collision visualization, configuration, documentation, and generated Isaac Sim assets for the dual-arm model.
 2026-07-27 15:39:54 +08:00
lgv
0257ac85ca feat(collision): add self-collision monitoring task 
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
lgv
33097d0279 fix(huaya):fix stopL interface 2026-07-02 11:24:13 +08:00
lgv
a5afef198d Merge branch 'dev' of http://192.168.28.10:18088/SmartBench/cmvr-es into dev 2026-07-01 10:44:38 +08:00
lgv
4654eee0c4 test:test all refactor code 2026-07-01 10:41:43 +08:00
lgv
94ee690796 fix(moveL): use trajectory velocity and reduce planning overhead 2026-07-01 10:17:42 +08:00