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机械臂与灵巧手驱动已构建完成 #1

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weipengzhe merged 18 commits from feature/2026-9-20 into main 2026-09-20 13:46:34 +08:00
Conversation 0 Commits 18 Files Changed 116
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3 changed files with 99 additions and 0 deletions
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config/joint_motion_limit.yaml
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arm_joint_limits:
right_arm:
joint_1:
vec: 4
acc: 4
joint_2:
vec: 4
acc: 4
joint_3:
vec: 4
acc: 4
joint_4:
vec: 4
acc: 4
joint_5:
vec: 4
acc: 4
joint_6:
vec: 4
acc: 4
joint_7:
vec: 4
acc: 4
left_arm:
joint_1:
vec: 4
acc: 4
joint_2:
vec: 4
acc: 4
joint_3:
vec: 4
acc: 4
joint_4:
vec: 4
acc: 4
joint_5:
vec: 4
acc: 4
joint_6:
vec: 4
acc: 4
joint_7:
vec: 4
acc: 4
config/joint_soft_limits.yaml
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arm_joint_limits:
right_arm:
joint_1:
min: -167
max: 167
joint_2:
min: -4
max: 183
joint_3:
min: -154
max: 154
joint_4:
min: -117
max: 117
joint_5:
min: -154
max: 154
joint_6:
min: -91
max: 91
joint_7:
min: -91
max: 91
left_arm:
joint_1:
min: -167
max: 167
joint_2:
min: -183
max: 4
joint_3:
min: -154
max: 154
joint_4:
min: -117
max: 117
joint_5:
min: -154
max: 154
joint_6:
min: -91
max: 91
joint_7:
min: -91
max: 91
src/msgs/msg/ControlActions.msg
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std_msgs/Header header
uint64 system_timestamp
string arm_ip
float64[12]