From 8780be3065ff830463c5e1a277ccbf3cffd56693 Mon Sep 17 00:00:00 2001
From: lxp <2770281812@qq.com>
Date: Tue, 30 Jun 2026 16:02:32 +0800
Subject: [PATCH] =?UTF-8?q?LinkerForce=20=E5=8F=91=E5=B8=83=E4=BB=8E=2030H?=
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 =?UTF-8?q?=E6=8C=87=E4=BE=A7=E6=91=86=E4=BF=AE=E6=94=B9?=
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---
 .gitignore                                                     | 3 +++
 .../motion/linkerforce/config/l10_config.py                    | 2 +-
 .../linkerhand_retarget/motion/linkerforce/retarget.py         | 2 +-
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/.gitignore b/.gitignore
index f7832d8..f9805a6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -19,3 +19,6 @@ htmlcov/
 *.tmp
 *.log
 
+# ROS bag / MCAP recordings
+*.mcap
+l10_*_state_*/
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l10_config.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l10_config.py
index db74520..05936b2 100644
--- a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/config/l10_config.py
+++ b/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': {
diff --git a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/retarget.py b/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/retarget.py
index 4ae9a10..5747e3d 100644
--- a/src/linkerhand_retarget/linkerhand_retarget/motion/linkerforce/retarget.py
+++ b/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"""