Initial import of ORISYS arm workstation

2026-10-16 17:27:30 +08:00
commit 2b74c50ba8
745 changed files with 1199101 additions and 0 deletions
@@ -0,0 +1,120 @@
+# 左臂 89 当前生效的参数。从旧仓库 config/site.yaml 抽出，去掉注释。
+# 节点代码还在读旧的 site.yaml，这一份还没接上。
+
+robot:
+  sn: "Rizon4-063989"
+  ip: "192.168.2.101"
+  pc_ip: "192.168.2.50"
+  iface: "enp4s0"
+  tool_name: "tool10120938"
+  tcp_xyz_m: [-0.0005, 0.0067, 0.2245]
+  tcp_qwxyz: [1.0, 0.0, 0.0, 0.0]
+  workpiece_surface_z_m: 0.022
+  handeye_file: "handeye/results/89_eye_in_hand.yaml"
+  ft_wrench_topic: "/Rizon4_063989/external_wrench_in_tcp"
+
+camera:
+  wrist_name: "d405_left"
+  wrist_serial: "352122274408"
+  wrist_ae_limit_us: 4000
+  wrist_emitter: false
+  overhead_width: 848
+  overhead_height: 480
+  overhead_fps: 15
+  overhead_ae_limit_us: 8000
+
+yolo:
+  weights: "models/yolo/gongjian0929.onnx"
+  backend: "onnx"
+  conf: 0.10
+  iou: 0.45
+  imgsz: 640
+  device: "0"
+  half_precision: true
+  min_conf: 0.12
+  reacquire_conf: 0.55
+  vision_hz: 30.0
+  feature_mode: "keypoint"
+  keypoint_index: 0
+  keypoint_min_conf: 0.30
+  keypoint_border_px: 6
+  track_max_step_m: 0.04
+  reacquire_far_px: 120
+  reacquire_confirm_frames: 3
+  jump_px: 400.0
+  jump_z_m: 0.10
+  z_ref_m: 0.22
+  min_depth_m: 0.04
+  max_depth_m: 0.55
+  feature_min_range_m: 0.14
+  meas_blend: 0.85
+  camera_frame: "d405_color_optical_frame"
+
+servo:
+  control_hz: 100.0
+  ee_z_m: 0.320
+  hole_hover_z_m: 0.320
+  min_ee_z_m: 0.20
+  safe_z_m: 0.45
+  z_min_m: 0.22
+  xy_track: "hover"
+  ee_vertical_down: true
+  kp_xy: 4.20
+  kd_xy: 0.20
+  kp_z: 0.80
+  kd_z: 0.35
+  deadzone_m: 0.003
+  v_max_xy: 0.45
+  v_max_z: 0.04
+  slow_far_m: 0.05
+  v_slow_xy: 0.08
+  a_max: 3.00
+  workspace_xyz_min: [0.08, -0.55, 0.18]
+  workspace_xyz_max: [0.85, 0.55, 0.65]
+  wrist_align_sec: 0.5
+  d435_handback_sec: 0.5
+  jump_confirm_frames: 3
+  traj_topic: "rizon_arm_controller/joint_trajectory"
+  point_topic: "visual_servo/filtered_point"
+
+hole:
+  backend: "two_stage"
+  conf: 0.25
+  iou: 0.7
+  imgsz: 640
+  target_hole: "k1"
+  align_tol_m: 0.00025
+  align_max_iters: 12
+  final_gap_mm: 2.0
+  observe_gap_mm: 15.0
+  hough_param2: 26
+  hough_min_radius: 6
+  hough_max_radius: 30
+  expected_holes: 2
+
+perception:
+  source: "yolo"
+  track_camera: "wrist"
+  wrist_handoff_conf: 0.5
+  overhead_min_depth_m: 0.25
+  overhead_max_depth_m: 1.80
+  overhead_oneshot_conf: 0.5
+  overhead_cooldown_s: 1.5
+
+gripper:
+  port: "/dev/ttyUSB0"
+  baud: 115200
+  slave_id: 1
+  stroke_mm: 20.0
+  force_pct: 20
+  speed_pct: 50
+  auto_init: false
+
+tactile:
+  model: "dd03"
+  left_video: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.1:1.0-video-index0"
+  right_video: "/dev/v4l/by-path/pci-0000:00:14.0-usb-0:3.4.2:1.0-video-index0"
+  baseline_seconds: 2.0
+  filter_alpha: 0.25
+  target_fps: 30.0
+  publish_hz: 20.0