meiqi/TG3
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: update hand gestures and direct locomotion

Browse Source
This commit is contained in:
meiqi
2026-08-11 14:35:51 +08:00
parent 89a8c3418f
commit 4cceebfa5f
11 changed files with 469 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
tg3_local_teleop/config.toml
View File

@@ -172,16 +172,15 @@ topics = [
"/ob_camera_waist/depth/image_raw/compressedDepth" = 20.0
[locomotion]
# The two original immediate bindings are independent: right C + left-stick
# vertical controls translation; left Z + right-stick horizontal controls
# in-place yaw. Both act on the next 50 Hz tick, with no second hold.
# Once Z+C has armed teleoperation and both sticks have been observed neutral,
# left-stick vertical directly controls translation and right-stick horizontal
# directly controls in-place yaw. No locomotion button or second hold is used.
enabled = true
command_topic = "/hric/robot/cmd_vel"
# This bridge never publishes FSM commands. The robot must already report
# HBWALK/running through the existing safety gate before velocity is allowed.
# Match the TG3 secondary-development TwistStamped example.
frame_id = "pelvis"
hold_seconds = 0.0
joystick_deadzone = 0.2
joystick_expo = 2.0
# Turning is linear after the deadzone so medium right-stick travel is not
@@ -224,8 +223,8 @@ invert_scalar = false
open_normalized = [0.4, 0.4, 0.05, 0.05, 0.05, 0.05]
closed_normalized = [0.9, 0.5, 0.45, 0.52, 0.52, 0.45]
# Right B owns a robot-side, release-guarded pointing gesture while a teleop
# session is armed. Both activation and deactivation require one continuous
# Right B owns a robot-side, release-guarded bilateral pointing gesture while
# a teleop session is armed. Both activation and deactivation require one continuous
# 1-second hold, separated by at least 0.5 seconds of stable release. A new
# session is always release-locked. The pose is xTELE GestureController's
# BrainCoRevo2 gesture 2 ("single index finger"), state 0, in motor order:
@@ -235,6 +234,15 @@ right_b_point_gesture_hold_seconds = 1.0
right_b_point_gesture_release_seconds = 0.5
right_b_point_pose_normalized = [0.2, 0.688, 0.0, 0.98, 0.98, 0.98]
# Right A is a momentary, robot-side pose: hold A to move the right hand to
# this measured BrainCo MotorStatus position and release A to resume the
# existing right-hand input (or an active right-B gesture). A new teleop
# session must first observe A released for 0.5 seconds. The normal hand slew
# limit remains in force; these are raw driver positions, not normalized data.
right_a_pose_enabled = true
right_a_pose_release_seconds = 0.5
right_a_pose_positions = [428, 735, 500, 77, 77, 72]
[home]
# Deliberately slower than manual teleoperation. This Home pose was captured
# from the robot's real arm feedback on 2026-08-06. Joint order is 11..17,