LinkerForce 发布从 30Hz 提到 100Hz，无名指侧摆修改

.gitignore

@@ -19,3 +19,6 @@ htmlcov/
 *.tmp
 *.log
 
+# ROS bag / MCAP recordings
+*.mcap
+l10_*_state_*/

src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l10_config.py

@@ -126,7 +126,7 @@ FINGER_CONFIGS = {
         'type': 'finger',
         'reverse_motion': {
             'v1': False,
-            'v2': False
+            'v2': True
         },
         'dynamic_weight': None,
         'extended_mapping': {

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(1.0/30, self.process_callback)  # 30Hz
+        self.node.create_timer(1.0/100, self.process_callback)  # 60Hz
 
     def stop_serial_threads(self):
         """停止串口线程，在 destroy_node 时调用"""