新增抓取目标物体、扩大右臂关节范围、添加手部抓取碰撞体和接触约束#4957
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donghaiwang merged 10 commits intoOpenHUTB:mainfrom Mar 4, 2026
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Mar 4, 2026
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修改概述:
修改的详细描述
增地面抓取目标（红色小球），位置在pos="0.3 0 0.1"，方便机械臂抓取；
扩大右臂关节的运动范围（肩膀 / 手肘），适配向前抓取的动作需求；
手部新增抓取碰撞体hand_right_grasp，并添加接触约束，确保碰到小球时能稳定吸附；
优化关节阻尼和执行器增益，让抓取 / 举起动作更流畅。
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经过了什么样的测试?
运行效果
动图、视频、截图等
Desktop.2026.03.03.-.23.26.30.08.mp4