119 lines
3.9 KiB
Plaintext
119 lines
3.9 KiB
Plaintext
touch_screen_task {
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id: "touch_screen"
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# 是否在外部相机编码后的 gRPC 视频流中绘制 G/H 坐标系，仅影响显示帧；未配置时默认开启。
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debug_draw_coordinate_frames: true
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# G/H 坐标轴长度，单位为米。
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debug_coordinate_axis_length_m: 0.02
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devices {
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arm_id: "right_arm"
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dexhand_id: "paxini_tip_1"
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# 手部相机和外部相机的 DeviceManager ID。
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camera_id: "right_hand_cam"
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external_camera_id: "left_hand_cam"
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}
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initialization {
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before_start: false
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after_finish: true
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joint_positions { joint_name: "R_SHOULDER_P" rad: -0.338732 }
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joint_positions { joint_name: "R_SHOULDER_R" rad: 1.265943 }
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joint_positions { joint_name: "R_SHOULDER_Y" rad: 1.572396 }
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joint_positions { joint_name: "R_ELBOW_R" rad: 1.5464 }
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joint_positions { joint_name: "R_WRIST_P" rad: -2.8179 }
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joint_positions { joint_name: "R_WRIST_Y" rad: 0.1105 }
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joint_positions { joint_name: "R_WRIST_R" rad: 0.1347 }
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velocity: 1.0
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acceleration: 2.0
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# 当前关节位置误差小于该值时跳过初始化 MoveJ，单位为弧度。
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skip_position_tolerance_rad: 0.01
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# 当前关节速度小于该值时才允许跳过初始化 MoveJ，单位为弧度/秒。
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skip_velocity_tolerance_rad_s: 0.1
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}
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perception {
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# 屏幕 Tag G 与手部 Tag H 的 ID 和物理边长，单位为米。
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tags {
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screen {
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id: 14
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size_m: 0.016
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}
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hand {
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id: 16
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size_m: 0.016
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}
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}
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# 手部相机：用于点击目标点和手部目标跟踪。
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hand_camera {
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depth_policy: TOUCH_SCREEN_DEPTH_POLICY_NONE
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target_point_method: TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE
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}
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}
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alignment {
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calibration {
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# TCP P 相对于 Hand Tag H 的目标姿态
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hand_tag_to_tcp {
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m00: 1.0 m01: 0.0 m02: 0.0 m03: 0.035
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m10: 0.0 m11: 0.0 m12: -1.0 m13: 0.09
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m20: 0.0 m21: 1.0 m22: 0.0 m23: -0.18
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m30: 0.0 m31: 0.0 m32: 0.0 m33: 1.0
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}
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}
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pbvs {
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position_gain { x: 1.0 y: 2.0 z: 1.0 }
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rotation_gain { x: 1.0 y: 1.5 z: 1.0 }
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vmax6 { x: 0.04 y: 0.04 z: 0.04 rx: 0.050 ry: 0.050 rz: 0.050 }
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amax6 { x: 0.80 y: 0.80 z: 0.80 rx: 2.0 ry: 2.0 rz: 2.0 }
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twist_filter_alpha: 1.0
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}
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target {
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# Hand Tag H 相对于屏幕 Tag G 的目标姿态，单位为弧度。
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# rx、ry、rz 表示绕固定 G 坐标轴 X、Y、Z 依次旋转。
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# 旋转组合为 R_G_H = Rz(rz) * Ry(ry) * Rx(rx)。
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# PBVS 会结合上面的 T_H_P 将该目标转换为 TCP P 的目标姿态。
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hand_orientation_G { rx: 0.0 ry: 0.0 rz: -1.57 }
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# 点击目标点到 TCP 预对齐位置的偏移，表达在 G 坐标系，单位为米。
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position_offset_G { x: 0.0 y: 0.0 z: 0.00 }
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mode: TOUCH_SCREEN_ALIGN_MODE_RX_RY_AND_POSITION
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}
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error_threshold {
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x: 0.005
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y: 0.005
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z: 0.005
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rx: 0.0126646259971647
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ry: 0.0126646259971647
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rz: 0.1026646259971647
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}
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stable_frames: 2
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# 对齐及到位暂停各自的超时时间（秒）；暂停从对齐成功时重新计时。
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timeout_s: 20.0
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# 到位后暂停；暂停超时结束任务，after_finish 为 true 时尝试回初始位置。
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pause_when_reached: false
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}
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touch {
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speed_l {
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twist_tool { x: 0.0 y: -0.08 z: 0.0 rx: 0.0 ry: 0.0 rz: 0.0 }
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acceleration: 5.0
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linear_jerk: 10.0
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max_distance_m: 0.03
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}
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tactile {
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finger: TOUCH_SCREEN_FINGER_TYPE_INDEX
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region: TOUCH_SCREEN_TACTILE_REGION_TIP
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criterion: TOUCH_SCREEN_TACTILE_CRITERION_FZ
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force_threshold: 0.1 # N
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}
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dwell_time_s: 0.0
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}
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retract {
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twist_tool { x: 0.0 y: 0.08 z: 0.0 rx: 0.0 ry: 0.0 rz: 0.0 }
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acceleration: 8.0
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linear_jerk: 40.0 # m/s^3，约束接触后的减速和连续换向。
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# TCP 后退目标距离，单位为米。
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distance_m: 0.01
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}
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}
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