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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
.vscode	feat: add touch app	2026-03-17 15:59:25 +08:00
assets	feat: fix google test	2026-02-27 16:31:37 +08:00
cmake	feat: add ibvs demo test	2026-02-11 15:23:11 +08:00
cmvr-es	feat(collision): add self-collision monitoring task	2026-07-27 15:37:39 +08:00
data	refactor:Refactor all the code	2026-06-24 15:45:54 +08:00
dependency	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
docs	refactor(motor): introduce MotorManager and bus runtimes	2026-06-30 16:04:36 +08:00
model	feat(collision): add self-collision monitoring task	2026-07-27 15:37:39 +08:00
protos/cmvr	feat(collision): add self-collision monitoring task	2026-07-27 15:37:39 +08:00
python	refactor:Refactor all the code	2026-06-24 15:45:54 +08:00
script	feat: add px 6ax gen3 as touch pressure sensor	2026-05-08 16:58:52 +08:00
.aiignore	fix: readme	2026-02-05 17:31:18 +08:00
.codex	feat: add px 6ax gen3 as touch pressure sensor	2026-05-08 16:58:52 +08:00
.gitignore	feat: add proto config for camera&hand&micophone	2026-01-21 16:30:13 +08:00
.gitmodules	feat:add eye hand calibration and pose follow	2025-08-22 16:57:29 +08:00
CMakeLists.txt	refactor(runtime): add shared application runtime	2026-06-30 16:02:28 +08:00
compile_commands.json	feat: add px 6ax gen3 as touch pressure sensor	2026-05-08 16:58:52 +08:00
LICENSE	feat:add eye hand calibration and pose follow	2025-08-22 16:57:29 +08:00
README.md	feat:add speedL interface	2026-03-11 16:23:23 +08:00
request.txt	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

README.md

CMVR-ES

Overview

Installation

1. Git submodules install

git submodule update --init --recursive

2. Dependency install

# basic
sudo apt-get update
sudo apt install -y build-essential cmake git pkg-config patchelf libboost-all-dev libssl-dev

# opencv
sudo apt install -y \
  libjpeg-dev libpng-dev libtiff-dev \
  libavcodec-dev libavformat-dev libswscale-dev \
  libv4l-dev libxvidcore-dev libx264-dev \
  libgtk-3-dev

# PulseAudio
sudo apt-get install libpulse-dev

# OpenGL
sudo apt-get install libgl1-mesa-dev

# GLFW
sudo apt-get install libglfw3-dev

# Assimp
sudo apt-get install libassimp-dev

# visp
sudo apt-get install -y libx11-dev liblapack-dev libzbar-dev libpthread-stubs0-dev libdc1394-dev nlohmann-json3-dev

# realsense
sudo apt-get install -y \
  libusb-1.0-0-dev libudev-dev \
  libglu1-mesa-dev
  
# Matplot++
sudo apt install gnuplot-qt