HighTorque Panthera HT

HighTorque (高擎) is the brand. Panthera HT is that brand’s dual-arm manipulator. Workspace: open-deploy-ws branch panthera-ht. It is not ARX Lift 2S (no mobile chassis).

Brand labels follow robot_usds README_zh-CN.md §3.1: 高擎 = HighTorque / Panthera.

Source of truth

Follow the branch README. Launch flags are those listed there.

Robot launch name in that README is panthera_ht.

Clone and init

Field zip

README “quick deployment”: unzip (example ~/ht-deploy-ws), then:

cd ~/ht-deploy-ws
./release.sh --install
source /opt/ros/jazzy/setup.bash
./quick_start.sh

Git clone (development)

cd ~
git clone -b panthera-ht git@github.com:fiveages-sim/open-deploy-ws.git ht-deploy-ws
cd ~/ht-deploy-ws
./init_repo.sh

Then source /opt/ros/jazzy/setup.bash and ./quick_start.sh to build.

Build and launch (scripts first)

cd ~/ht-deploy-ws
./quick_start.sh

README: Build (simulation vs real-hardware packages), then Launch (single / dual arm, simulation or real). Real hardware uses serial (/dev/ttyACM*); the script prompts for permissions.

Isomorphic teleop (同构遥操作) on this branch is ./teleop_start.sh (master / slave). See Isomorphic Teleop and the same README section on teleop_start.sh. Drag teaching (拖动遥操作) is not a separate implemented stack.

Optional README launch lines

Prefer the script. README equivalents:

source ~/ht-deploy-ws/install/setup.bash
ros2 launch robot_common_launch manipulator.launch.py robot:=panthera_ht
ros2 launch robot_common_launch manipulator.launch.py robot:=panthera_ht type:=dual
ros2 launch ocs2_arm_controller demo.launch.py robot:=panthera_ht type:=single hardware:=real
ros2 launch ocs2_arm_controller demo.launch.py robot:=panthera_ht type:=dual hardware:=real

README type:=dual / type:=single is arm topology, not an end-effector key, and does not expand to left_type / right_type. Different L/R EEF keys use left_type:= / right_type:= (do not also pass type:=) — robot_common_launch.

Zenoh: same as other deploy hosts — ros-jazzy-rmw-zenoh-cpp and RMW_IMPLEMENTATION=rmw_zenoh_cpp (README).