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
dbac432565
fix(speedl):fix speedl stop overshoot
2026-09-15 14:50:21 +08:00
141e9813c2
Merge branch 'lgv_dev_touch_v2' into lgv_dev
2026-09-15 10:43:46 +08:00
964b0457ca
feat:add pbvs touch
2026-09-15 10:42:56 +08:00
29a899b305
fix(ti5 motors):can send & rec bug
2026-09-11 20:03:46 +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
708c585f28
fix(camera): decouple MuJoCo rendering and camera reads
2026-09-04 11:07:01 +08:00
724da3d000
fix(touch): support repeated MuJoCo touch runs
2026-09-04 11:03:14 +08:00
e05a03e075
fix(mujoco): prevent viewer PiP flicker
2026-09-04 11:01:04 +08:00
2cfe354c07
feat(gen2): add MuJoCo collision recovery support
...
(cherry picked from commit 78fd7d7a04
2026-09-03 15:13:19 +08:00
944faea389
build(ethercat): add modules for kernel 6.8.0-136
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(cherry picked from commit 69c1f62446
2026-09-03 15:13:18 +08:00
411aa00187
fix(ethercat): restrict master device access
...
(cherry picked from commit 4bd4645631
2026-09-03 15:13:18 +08:00
d021fea112
fix(aubo): isolate AUBO SDK runtime libraries
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(cherry picked from commit 59e31cbfde
2026-09-03 15:13:18 +08:00
0c381644c9
test(ethercat): strengthen real motor trajectory coverage
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(cherry picked from commit 2ca03d88da
2026-09-03 15:12:26 +08:00
1d811b49fd
fix(eyou): make zero calibration transactional
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(cherry picked from commit abe69c46f0
2026-09-03 15:12:26 +08:00
1d07f32479
fix(ethercat): synchronize motor commands and status handling
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(cherry picked from commit 3ac7db50fd
2026-09-03 15:12:26 +08:00
7be96ca383
fix: avoid vendor libstdc++ conflicts
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(cherry picked from commit c43bab8d4c
2026-09-03 15:12:26 +08:00
0b05bc1b11
feat: add EtherCAT DC monitoring and four-motor sync test
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(cherry picked from commit 2cda7be4d4
2026-09-03 15:12:26 +08:00
ffef8db559
docs(ethercat): add EYOU setup guide and scripts
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(cherry picked from commit d84f84b5ee
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
6771889a67
feat(motor): add EYOU EtherCAT CiA402 driver
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(cherry picked from commit dc0831eb71
2026-09-03 15:12:11 +08:00
ac5c743dec
feat(ethercat): add motor bus runtime
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(cherry picked from commit c9c7e43a70
2026-09-03 15:12:11 +08:00
1587f4d292
refactor(motor): unify motor command interface
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(cherry picked from commit d292360a8d
2026-09-03 15:12:11 +08:00
0b44ecfc7a
feat(proto): add EtherCAT CiA402 motor schema
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(cherry picked from commit 5c8847d334
2026-09-03 15:12:11 +08:00
4e9bd398f1
feat(collision): add collision primitive generation tools
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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
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
33097d0279
fix(huaya):fix stopL interface
2026-07-02 11:24:13 +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
4654eee0c4
test:test all refactor code
2026-07-01 10:41:43 +08:00
94ee690796
fix(moveL): use trajectory velocity and reduce planning overhead
2026-07-01 10:17:42 +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
32fe139015
refactor(devices): remove legacy robot stack and stale tests
2026-06-30 16:05:47 +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
922f73adb5
refactor(runtime): add shared application runtime
2026-06-30 16:02:28 +08:00
c7f31708cb
feat: add grpc debug log
2026-06-25 11:03:38 +08:00
fc0b11dfab
Merge branch 'lgv_refator_code' into dev
2026-06-25 09:27:51 +08:00
a6d749f679
revert: rollback dev to fb304df94c
2026-06-25 09:26:23 +08:00
693fa0ab76
fix : fix motor init vel set
2026-06-25 09:09:12 +08:00
9deb6c5383
fix(touch-screen): move to init pose before touch start
2026-06-24 17:16:04 +08:00
181e14c7ef
refactor:Refactor all the code
2026-06-24 15:45:54 +08:00
b4468809da
添加注释
2026-06-23 16:44:03 +08:00
2e01a6035a
update robot config
2026-06-17 16:02:02 +08:00
