大拇指安全限制去除

src/gui_control/gui_control/gui_control.py

@@ -38,7 +38,7 @@ _CANONICAL_COMMAND_NAMES = {
 _CANONICAL_COMMAND_BOUNDS = {
     "G20": [
         *[(0, 255)] * 10,
-        (80, 255),
+        (0, 255),
         *[(255, 255)] * 4,
         *[(0, 255)] * 5,
     ],

src/linkerhand_retarget/resource/linkerforce_v2/README_zh.md

@@ -174,8 +174,8 @@ CLI将GUI保存动作和状态选择共同视为人工确认，并立即写入
 提示当前姿势，不会退出。程序被关闭或异常中断后，使用完全相同的命令
 会校验型号、seed哈希、SN、固件、CAN、操作者和输出路径，并自动跳过已保存姿势。
 若旧检查点中的某些命令超出profile安全范围，CLI会保留其他有效姿势，只移除并
-重拍超限姿势。G20 GUI同时把 `thumb_cmc_yaw` 限制在80～255，并将4个保留通道
-固定为255；不得为了复现超限手势而放宽这些安全范围。
+重拍超限姿势。G20的 `thumb_cmc_yaw` 使用完整0～255命令范围，4个保留通道仍固定
+为255；不得修改保留通道的固定值。
 只有明确希望放弃旧进度时才在原命令末尾增加 `--fresh`；该选项会覆盖旧检查点，
 从第一个姿势重新开始。
 

src/linkerhand_retarget/resource/linkerforce_v2/profiles/g20_seed_profile.json

@@ -93,7 +93,7 @@
   "command_bounds": [
     [0, 255], [0, 255], [0, 255], [0, 255], [0, 255],
     [0, 255], [0, 255], [0, 255], [0, 255], [0, 255],
-    [80, 255], [255, 255], [255, 255], [255, 255], [255, 255],
+    [0, 255], [255, 255], [255, 255], [255, 255], [255, 255],
     [0, 255], [0, 255], [0, 255], [0, 255], [0, 255]
   ],
   "reserved_channels": {

src/linkerhand_retarget/test/test_linkerforce_v2.py

@@ -248,6 +248,24 @@ def test_seed_profiles_map_named_bounded_commands(model, length):
         assert result.command[11:15] == (255, 255, 255, 255)
 
 
+def test_g20_thumb_yaw_uses_full_command_range():
+    profile = load_robot_profile(
+        PROFILE_DIR / "g20_seed_profile.json", "G20"
+    )
+    assert profile["command_bounds"][10] == [0.0, 255.0]
+    yaw_channel = next(
+        channel
+        for channel in profile["channels"]
+        if channel["name"] == "thumb_cmc_yaw"
+    )
+    yaw_channel["points"] = [[0.0, 255.0], [1.0, 0.0]]
+    intent = {name: 0.0 for name in BASE_INTENT_NAMES}
+    intent["thumb_rotate"] = 1.0
+    result = RobotMapper(profile).map(intent)
+    assert result.raw_command[10] == 0.0
+    assert result.command[10] == 0
+
+
 def test_paired_pinch_anchors_only_constrain_thumb_and_target_finger():
     glove_profile = build_glove_profile(
         _glove_captures(),
@@ -429,9 +447,7 @@ def test_thumb_mapping_ignores_four_finger_only_pose_commands():
     altered_profile = copy.deepcopy(robot_profile)
     for pose_name in ("fingers_together", "tabletop", "hook"):
         for command_index in (0, 5, 10, 15):
-            altered_profile["poses"][pose_name]["cmd_u8"][command_index] = (
-                80.0 if command_index == 10 else 0.0
-            )
+            altered_profile["poses"][pose_name]["cmd_u8"][command_index] = 0.0
 
     extractor = HandIntentExtractor(glove_profile)
     reference_mapper = RobotMapper(robot_profile, glove_profile)
@@ -629,9 +645,9 @@ def test_robot_pose_checkpoint_resumes_and_rejects_identity_mismatch(tmp_path):
 def test_robot_capture_rejects_commands_outside_profile_safety_bounds():
     seed = load_robot_profile(PROFILE_DIR / "g20_seed_profile.json", "G20")
     command = list(seed["poses"]["open_spread"]["cmd_u8"])
-    command[10] = 79.0
+    command[10] = -1.0
     assert _command_bound_violations(seed, command) == (
-        "thumb_cmc_yaw=79，允许[80, 255]",
+        "thumb_cmc_yaw=-1，允许[0, 255]",
     )