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