910e0c553d
restore json command interface for aubo io
2026-09-21 14:07:48 +08:00
b9b6088800
feat: add camera audio and QUIC streaming
2026-09-20 13:58:20 +08:00
9d27f903cd
Merge branch 'lgv_dev' into dev
2026-09-18 17:12:19 +08:00
dd86f417c4
add typed aubo cabinet io interfaces
2026-09-18 15:22:50 +08:00
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
149d8cdb5d
fix(touch): validate tactile readings and use newton thresholds
2026-09-18 13:51:13 +08:00
96e3bcf624
fix(touch): separate camera display thread and improve touch workflow
2026-09-18 12:45:55 +08:00
d15d381b1d
add grpc action queue support
2026-09-16 14:33:49 +08:00
9d5a40c4f8
add aubo huayan and seer device support
2026-09-16 14:11:37 +08:00
964b0457ca
feat:add pbvs touch
2026-09-15 10:42:56 +08:00
6bfe01b854
feat(touch): support target pose offsets
2026-09-09 17:47:47 +08:00
181fb15591
feat(touch): add eye-to-hand PBVS MuJoCo support
2026-09-09 17:28:24 +08:00
f768960ff2
feat(motor): initialize motor groups by device entry
2026-09-04 13:05:14 +08:00
724da3d000
fix(touch): support repeated MuJoCo touch runs
2026-09-04 11:03:14 +08:00
2cfe354c07
feat(gen2): add MuJoCo collision recovery support
...
(cherry picked from commit 78fd7d7a04
2026-09-03 15:13:19 +08:00
1d811b49fd
fix(eyou): make zero calibration transactional
...
(cherry picked from commit abe69c46f0
2026-09-03 15:12:26 +08:00
0b05bc1b11
feat: add EtherCAT DC monitoring and four-motor sync test
...
(cherry picked from commit 2cda7be4d4
2026-09-03 15:12:26 +08:00
41c5d1f442
feat(manager): initialize EtherCAT motors from DeviceManager
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(cherry picked from commit 5b94d5c85a
2026-09-03 15:12:11 +08:00
0b44ecfc7a
feat(proto): add EtherCAT CiA402 motor schema
...
(cherry picked from commit 5c8847d334
2026-09-03 15:12:11 +08:00
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
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"
...
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
