左手G20大拇指侧摆映射

src/camera_retarget_l20/camera_retarget_l20/g20_mapping.py

@@ -65,12 +65,12 @@ G20_COMMAND_NAMES: tuple[str, ...] = (
 FLEXION_MOTOR_INDICES = frozenset((*range(0, 5), *range(15, 20)))
 RESERVED_MOTOR_INDICES = frozenset(range(11, 15))
 
-# Left-G20 endpoints from linkerhand_retarget/config/hand_config.yml.  Motor 5
+# Left-G20 endpoints from linkerhand_retarget/config/hand_config.yml. Motor 5
-# is fixed at zero by the vendor mapping; motors 6..9 run in the opposite
+# follows thumb roll like the right G20; motors 6..9 run in the opposite
 # direction to the flexion motors on a left hand.
 LOWER_LIMIT_COMMAND: tuple[int, ...] = (
     255, 255, 255, 255, 255,
-    0, 0, 0, 0, 0,
+    255, 0, 0, 0, 0,
     255, 255, 255, 255, 255,
     255, 255, 255, 255, 255,
 )
@@ -118,8 +118,9 @@ POWER_GRASP_THUMB_OPPOSITION_COMMANDS = np.asarray(
     (78.0, 112.0), dtype=float
 )
 
-# The vendor G20 mapping constrains thumb horizontal swing (motor 10) to this
+# Physically verified left-G20 limits keep both thumb side-motion channels
-# range to avoid commanding the mechanical end stop.
+# away from their mechanical end stops.
+THUMB_ABDUCTION_MIN_COMMAND = 20.0
 THUMB_YAW_MIN_COMMAND = 80.0
 
 # MediaPipe landmark chains for thumb, index, middle, ring and pinky.
@@ -294,6 +295,7 @@ class G20CommandMapper:
             command[motor_index] = max(
                 command[motor_index], minimum_flexion_command
             )
+        command[5] = max(command[5], THUMB_ABDUCTION_MIN_COMMAND)
         command[10] = max(command[10], THUMB_YAW_MIN_COMMAND)
         command[list(RESERVED_MOTOR_INDICES)] = self.open_pose[
             list(RESERVED_MOTOR_INDICES)

src/camera_retarget_l20/test/test_g20_mapping.py

@@ -6,6 +6,7 @@ from camera_retarget_l20.g20_mapping import (
     FLEXION_MOTOR_INDICES,
     MOTOR_JOINT_NAMES,
     RESERVED_MOTOR_INDICES,
+    THUMB_ABDUCTION_MIN_COMMAND,
     THUMB_YAW_MIN_COMMAND,
     G20CommandMapper,
     G20MediaPipeMapper,
@@ -52,7 +53,7 @@ def qpos_at(limit_index):
 def test_left_g20_lower_limit_endpoints():
     command = make_mapper().raw_command(qpos_at(0))
     assert command[:5].tolist() == [255.0] * 5
-    assert command[5:10].tolist() == [0.0] * 5
+    assert command[5:10].tolist() == [255.0, 0.0, 0.0, 0.0, 0.0]
     assert command[10] == 255.0
     assert command[15:].tolist() == [255.0] * 5
     assert command[list(RESERVED_MOTOR_INDICES)].tolist() == [255.0] * 4
@@ -61,7 +62,7 @@ def test_left_g20_lower_limit_endpoints():
 def test_left_g20_upper_limit_endpoints_and_thumb_constraint():
     command = make_mapper().raw_command(qpos_at(1))
     assert command[:5].tolist() == [0.0] * 5
-    assert command[5] == 0.0
+    assert command[5] == THUMB_ABDUCTION_MIN_COMMAND
     assert command[6:10].tolist() == [255.0] * 4
     assert command[10] == THUMB_YAW_MIN_COMMAND
     assert command[15:].tolist() == [0.0] * 5
@@ -71,7 +72,7 @@ def test_max_closure_only_limits_flexion_motors():
     command = make_mapper(max_closure=0.60).raw_command(qpos_at(1))
     for index in FLEXION_MOTOR_INDICES:
         assert command[index] == pytest.approx(102.0)
-    assert command[5] == 0.0
+    assert command[5] == THUMB_ABDUCTION_MIN_COMMAND
     assert command[6:10].tolist() == [255.0] * 4
     assert command[10] == THUMB_YAW_MIN_COMMAND
 

src/linkerhand_retarget/linkerhand_retarget/config/base_config.yml

@@ -24,8 +24,8 @@ serial:
   - 921600
   exclude_ports: []
   left:
-    baudrate: 460800
+    baudrate: 2000000
-    port: /dev/ttyUSB1
+    port: /dev/ttyUSB0
   right:
     baudrate: 2000000
     port: /dev/ttyUSB0
@@ -41,7 +41,7 @@ system:
   motion_type: linkerforce
   retargeting_type: projection
   rightpub: true
-  robotname_l: l10
+  robotname_l: g20
   robotname_r: l10
   sapientype: left
   usecan: false

src/linkerhand_retarget/linkerhand_retarget/config/hand_config.yml

@@ -16,7 +16,7 @@ commandlower_left_l20: [255, 255, 255, 255, 255, 255, 0, 0, 0, 0, 255, None, Non
 commandupper_left_l20: [0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 0, None, None, None, None, 0, 0, 0, 0, 0] 
 commandlower_right_g20: [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, None, None, None, None, 255, 255, 255, 255, 255]
 commandupper_right_g20: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, None, None, None, None, 0, 0, 0, 0, 0]
-commandlower_left_g20: [255, 255, 255, 255, 255, 0, 0, 0, 0, 0, 255, None, None, None, None, 255, 255, 255, 255, 255]
+commandlower_left_g20: [255, 255, 255, 255, 255, 255, 0, 0, 0, 0, 255, None, None, None, None, 255, 255, 255, 255, 255]
 commandupper_left_g20: [0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 0, None, None, None, None, 0, 0, 0, 0, 0] 
 commandlower_right_l7: [255, 255, 255, 255, 255, 255, 255, None, None, None, None, None, None, None, None, None, None, None, None, None]
 commandupper_right_l7: [0, 0, 0, 0, 0, 0, 0, None, None, None, None, None, None, None, None, None, None, None, None, None]

src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/g20_config.py

@@ -432,7 +432,9 @@ MOTOR_CONSTRAINTS = {
         {'min': 0, 'max': 255, 'enabled': False},
         {'min': 0, 'max': 255, 'enabled': False},
         {'min': 0, 'max': 255, 'enabled': False},
-        {'min': 0, 'max': 255, 'enabled': False},
+        # Left G20 thumb abduction is enabled by hand_config.yml. Keep the
+        # physically verified command away from the mechanical end stop.
+        {'min': 20, 'max': 255, 'enabled': True},
         {'min': 0, 'max': 255, 'enabled': False},
         {'min': 0, 'max': 255, 'enabled': False},
         {'min': 0, 'max': 255, 'enabled': False},
@@ -470,4 +472,4 @@ MOTOR_CONSTRAINTS = {
         {'min': 0, 'max': 255, 'enabled': False},
         {'min': 0, 'max': 255, 'enabled': False},
     ]
-}
+}

src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/hand/linkerforce_g20.py

@@ -10,6 +10,13 @@ from ..config.g20_config import FINGER_CONFIGS, MAPPING_ORDER, ROBOT_OPOSE_RIGHT
 from typing import List
 from linkerhand.handcoreex import DynamicWeightMultiStateLinearMapper,MultiStateLinearMapper
 
+
+# The left G20 ring abduction motor runs opposite to the glove's corresponding
+# roll sensor. Keep this override local to LeftHand so the pinky and right-hand
+# mappings retain their native directions.
+LEFT_REVERSED_SIDE_SWINGS = ('ring_roll',)
+
+
 def _resolve_version_config(configs: dict, version: str) -> dict:
     """
     解析版本配置，将字典格式的 weights/reverse_motion 转换为具体值
@@ -300,6 +307,7 @@ class LeftHand:
 
         finger_configs = _resolve_version_config(FINGER_CONFIGS, self.glove_version)
         self.multi_state_mapper = DynamicWeightMultiStateLinearMapper(finger_configs, MAPPING_ORDER, is_debug=is_debug)
+        self._apply_side_direction_overrides()
 
         for config_name, config in FINGER_CONFIGS.items():
             if config.get('dynamic_weight'):
@@ -307,6 +315,10 @@ class LeftHand:
 
         self.motor_constraints = MOTOR_CONSTRAINTS['left']
 
+    def _apply_side_direction_overrides(self):
+        for finger_name in LEFT_REVERSED_SIDE_SWINGS:
+            self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = True
+
     def _apply_motor_constraints(self):
         for i, constraint in enumerate(self.motor_constraints):
             if constraint.get('enabled', False):
@@ -335,6 +347,8 @@ class LeftHand:
                 if version_key in config['reverse_motion']:
                     self.multi_state_mapper.finger_configs[finger_name]['reverse_motion'] = config['reverse_motion'][version_key]
 
+        self._apply_side_direction_overrides()
+
     def initialize_mapper(self) -> bool:
         """
         初始化映射器
@@ -518,4 +532,3 @@ class LeftHand:
             self.g_jointvelocity[i] = 255
             self.last_jointvelocity[i] = self.g_jointvelocity[i]
             self.last_jointpositions[i] = self.g_jointpositions[i]
-

src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/retarget.py

@@ -1247,7 +1247,7 @@ class Retarget():
                 self.node.get_logger().error("标定失败，退出程序")
                 return
             self.calibration = -1
-        self.node.create_timer(1.0/100, self.process_callback)  # 60Hz
+        self.node.create_timer(1.0/100, self.process_callback)  # 100Hz
 
     def stop_serial_threads(self):
         """停止串口线程，在 destroy_node 时调用"""

src/linkerhand_retarget/tests/unit/test_linkerforce_g20.py

@@ -0,0 +1,51 @@
+from pathlib import Path
+
+import yaml
+
+from linkerhand_retarget.motion.linkerforce.hand.linkerforce_g20 import (
+    LeftHand,
+    RightHand,
+)
+from linkerhand_retarget.motion.linkerforce.config.g20_config import MOTOR_CONSTRAINTS
+
+
+class _HandCoreStub:
+    pass
+
+
+def test_left_g20_thumb_side_swing_has_a_safe_command_range():
+    package_dir = Path(__file__).resolve().parents[2] / 'linkerhand_retarget'
+    config = yaml.safe_load((package_dir / 'config' / 'hand_config.yml').read_text())
+
+    assert config['commandlower_left_g20'][5] == 255
+    assert config['commandupper_left_g20'][5] == 0
+    assert MOTOR_CONSTRAINTS['left'][5] == {
+        'min': 20,
+        'max': 255,
+        'enabled': True,
+    }
+
+
+def test_left_g20_reverses_only_ring_side_swing():
+    hand = LeftHand(_HandCoreStub())
+
+    assert hand.multi_state_mapper.finger_configs['index_roll']['reverse_motion'] is False
+    assert hand.multi_state_mapper.finger_configs['middle_roll']['reverse_motion'] is False
+    assert hand.multi_state_mapper.finger_configs['ring_roll']['reverse_motion'] is True
+    assert hand.multi_state_mapper.finger_configs['pinky_roll']['reverse_motion'] is False
+
+
+def test_left_g20_side_direction_overrides_survive_version_change():
+    hand = LeftHand(_HandCoreStub())
+
+    hand.set_glove_version('1.2.12')
+
+    assert hand.multi_state_mapper.finger_configs['ring_roll']['reverse_motion'] is True
+    assert hand.multi_state_mapper.finger_configs['pinky_roll']['reverse_motion'] is False
+
+
+def test_right_g20_side_directions_are_unchanged():
+    hand = RightHand(_HandCoreStub())
+
+    assert hand.multi_state_mapper.finger_configs['ring_roll']['reverse_motion'] is False
+    assert hand.multi_state_mapper.finger_configs['pinky_roll']['reverse_motion'] is False