120 lines
4.5 KiB
TOML
120 lines
4.5 KiB
TOML
[network]
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# Direct OmniSocket KCP input. No robot-side ZMQ receiving proxy is used.
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transport = "omnisocket"
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omnisocket_server = "175.178.116.187:14049"
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omnisocket_peer_id = "tg3-009027fa8190-robot"
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omnisocket_expected_sender = "tg3-009027fa8190-iarm"
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omnisocket_max_packet_age_ms = 300.0
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# The native session can remain blocked on an old connection after the public
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# Hub disappears. Publication stops at source_timeout_s; after this longer
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# interval the process exits and systemd creates a completely fresh session.
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omnisocket_restart_after_stale_s = 2.0
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# Retained only as a direct-LAN fallback when transport is changed to "zmq".
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iarm_endpoint = "tcp://192.168.5.14:5003"
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expected_iarm_id = "IArm009027FA8190"
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expected_iarm_type = "TS1P"
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source_timeout_s = 0.25
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minimum_arm_frequency_hz = 30.0
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[ros]
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command_topic = "/encoder_identical_joint"
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rl_state_topic = "/hric/robot/rl_state"
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arm_state_topic = "/freq_change/arm_status"
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home_service = "/tg3_local_teleop/return_home"
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cancel_home_service = "/tg3_local_teleop/cancel_home"
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publish_rate_hz = 50.0
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[robot]
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required_state = "HBWALK"
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required_status = "running"
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state_timeout_s = 1.0
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arm_state_timeout_s = 0.25
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[control]
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# OmniSocket start/stop is timed on EAI before any business frame is sent.
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# This value remains for the direct-ZMQ fallback latch.
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auto_home_on_stop = true
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start_stop_hold_seconds = 3.0
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max_slew_rad_s = 1.0
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# This custom margin is checked only when teleoperation starts. It is not
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# checked while collecting/following. Vendor limit protection is unchanged.
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joint_limit_margin_rad = 0.03
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# Joint order: left 11..17, then right 21..27. Values are the TG3.0 limits
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# from the supplied 26.04.x SDK document, expressed in radians.
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joint_lower_rad = [
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-2.8449, -0.1920, -2.8449, -2.5482, -2.8449, -1.3265, -1.3265,
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-2.8449, -3.3336, -2.8449, -2.5482, -2.8449, -1.3265, -1.3265,
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]
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joint_upper_rad = [
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2.8449, 3.3336, 2.8449, 0.1920, 2.8449, 1.3265, 1.3265,
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2.8449, 0.1920, 2.8449, 0.1920, 2.8449, 1.3265, 1.3265,
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]
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[locomotion]
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# Right C remains an immediate deadman: while teleoperation is active, C plus
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# a left-stick command acts on the next 50 Hz tick. There is no second hold.
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enabled = true
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command_topic = "/hric/robot/cmd_vel"
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# This bridge never publishes FSM commands. The robot must already report
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# HBWALK/running through the existing safety gate before velocity is allowed.
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# Match the TG3 secondary-development TwistStamped example.
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frame_id = "pelvis"
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hold_seconds = 0.0
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joystick_deadzone = 0.2
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joystick_expo = 2.0
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# TianGong secondary-development /cmd_vel limits for full/half-body walking:
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# linear.x [-0.8, +1.0] m/s and angular.z [-0.8, +0.8] rad/s.
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max_forward_m_s = 1.0
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max_reverse_m_s = 0.8
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max_angular_rad_s = 0.8
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forward_axis_sign = 1.0
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yaw_axis_sign = -1.0
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zero_burst_frames = 10
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[hands]
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# TianGong 3.0 on this robot uses BrainCo Revo2 hands. Commands are published
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# only while the same physical 3-second teleoperation latch is armed.
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enabled = true
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left_command_topic = "/left_hand/set_motor_multi"
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right_command_topic = "/right_hand/set_motor_multi"
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left_status_topic = "/left_hand/motor_status"
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right_status_topic = "/right_hand/motor_status"
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status_timeout_s = 0.25
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# Vendor robot_tele_server uses mode 5 and an 800 ms expected duration.
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mode = 5
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duration_ms = 800
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position_min = 1
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position_max = 1000
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# Commissioning limit: no commanded motor may change faster than 400/1000 of
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# its full stroke per second. The driver keeps its own current/stall protection.
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slew_units_per_s = 400.0
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invert_scalar = false
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# Scalar hand.position=0 is the robot's measured default-open pose. The closed
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# endpoint is the conservative BrainCoRevo2 "normal" grasp from the installed
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# xTELE GestureController.
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# Order: thumb bend, thumb rotation, index, middle, ring, little.
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open_normalized = [0.4, 0.4, 0.05, 0.05, 0.05, 0.05]
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closed_normalized = [0.9, 0.5, 0.45, 0.52, 0.52, 0.45]
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[home]
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# Deliberately slower than manual teleoperation. This Home pose was captured
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# from the robot's real arm feedback on 2026-08-06. Joint order is 11..17,
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# followed by 21..27; values are radians. Home is not the motor-zero pose.
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slew_rad_s = 0.25
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joint_goal_rad = [
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0.1842578799, 0.1234146282, 0.0396494754, -0.4828015864,
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-0.0024294013, 0.0065013529, -0.0040423824,
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0.1721130311, -0.1383204311, -0.0142812012, -0.3408825397,
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0.0026911981, 0.0039934102, -0.0030838961,
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]
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# Abort if the commanded trajectory gets more than ~4.6 degrees ahead of
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# measured robot motion.
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max_tracking_error_rad = 0.08
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command_tolerance_rad = 0.005
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actual_tolerance_rad = 0.03
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settle_s = 1.0
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timeout_s = 30.0
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