diff --git a/README.md b/README.md index b4e176d..9ca0d4b 100644 --- a/README.md +++ b/README.md @@ -40,8 +40,8 @@ TOML 解析检查。若还要核对外置 OmniSocketGo 版本，可设置任务 稳定松开，再重新长按 3 秒。pending 和活动会话都不会自动重试或自动恢复。 - 右 C + 左摇杆上下：HBWALK 前进/后退。 - 左 Z + 右摇杆左右：HBWALK 原地转向。 -- 右 B 连续 3 秒：右手进入厂商“单食指”姿态；松开至少 0.5 秒后再次连续 - 3 秒退出。手指动作继续受 `400 units/s` 限速。 +- 右 B 连续 1 秒：右手进入厂商“单食指”姿态；松开至少 0.5 秒后再次连续 + 1 秒退出。手指动作继续受 `400 units/s` 限速。 ## 迁移前必须修改 diff --git a/docs/天工3.0本地同构臂遥操迁移部署指南.md b/docs/天工3.0本地同构臂遥操迁移部署指南.md index e90a7d9..3dfea2a 100644 --- a/docs/天工3.0本地同构臂遥操迁移部署指南.md +++ b/docs/天工3.0本地同构臂遥操迁移部署指南.md @@ -397,8 +397,8 @@ omnisocket_server = "203.0.113.10:15000" 5. 松开两个扳机，长按左 Z + 右 C 3 秒启动； 6. 先做小幅单关节跟随，再逐渐扩大动作； 7. 分别小幅扣左右扳机，验证双手方向、范围和限速； -8. 保持右摇杆回中，连续长按右 B 3 秒，确认右手以 `400 units/s` 限速进入厂商 - “单食指”姿态；松开至少 0.5 秒后再次长按 3 秒，确认退出并恢复正常右手跟随； +8. 保持右摇杆回中，连续长按右 B 1 秒，确认右手以 `400 units/s` 限速进入厂商 + “单食指”姿态；松开至少 0.5 秒后再次长按 1 秒，确认退出并恢复正常右手跟随； 9. 先停止并确认 `armed=false`，按飞书指南逐个选择其他手势组合键；检查 EAI `status.json` 的 `command_frames_accepted` 增长，并在 EAI 本机 5001 抓帧确认处理后的 `hand.position` 为六维数组；待机不会构包，`command_hand_merges` 此时不应增长； diff --git a/tg3_local_teleop/README.md b/tg3_local_teleop/README.md index f4acecf..0645455 100644 --- a/tg3_local_teleop/README.md +++ b/tg3_local_teleop/README.md @@ -43,8 +43,8 @@ TS1P 同构臂 - 同构臂当前的一维手部开合量以机器人实测默认打开姿态为 0 端点，并按厂家 xTELE 的 BrainCoRevo2 保守“常规”抓握姿态作为 1 端点映射到六电机； 若 xTELE 后续直接输出六维归一化位置，会自动使用六维位置。 -- 右手指向手势：遥操已启动且灵巧手反馈健康时，连续长按右 `B` 3 秒开启；松开 - 至少 `0.5 s` 后，再连续长按右 `B` 3 秒关闭。首次启动和每个新遥操会话都必须先 +- 右手指向手势：遥操已启动且灵巧手反馈健康时，连续长按右 `B` 1 秒开启；松开 + 至少 `0.5 s` 后，再连续长按右 `B` 1 秒关闭。首次启动和每个新遥操会话都必须先 稳定松开 B，保持同一次按压不会反复切换。计时未满、中途松开、输入畸形或反馈 中断均不触发；计时期间冻结右手最后一条命令，左手和双臂仍照常跟随。 - 指向只覆盖右手。目标采用工控机 xTELE `GestureController` 的 BrainCoRevo2 第 2 号 diff --git a/tg3_local_teleop/config.toml b/tg3_local_teleop/config.toml index f3e76c2..86dc95b 100644 --- a/tg3_local_teleop/config.toml +++ b/tg3_local_teleop/config.toml @@ -111,12 +111,12 @@ closed_normalized = [0.9, 0.5, 0.45, 0.52, 0.52, 0.45] # Right B owns a robot-side, release-guarded pointing gesture while a teleop # session is armed. Both activation and deactivation require one continuous -# 3-second hold, separated by at least 0.5 seconds of stable release. A new +# 1-second hold, separated by at least 0.5 seconds of stable release. A new # session is always release-locked. The pose is xTELE GestureController's # BrainCoRevo2 gesture 2 ("single index finger"), state 0, in motor order: # thumb bend, thumb rotation, index, middle, ring, little. right_b_point_gesture_enabled = true -right_b_point_gesture_hold_seconds = 3.0 +right_b_point_gesture_hold_seconds = 1.0 right_b_point_gesture_release_seconds = 0.5 right_b_point_pose_normalized = [0.2, 0.688, 0.0, 0.98, 0.98, 0.98] diff --git a/tg3_local_teleop/test_gesture_toggle.py b/tg3_local_teleop/test_gesture_toggle.py index a33c231..871e9ee 100644 --- a/tg3_local_teleop/test_gesture_toggle.py +++ b/tg3_local_teleop/test_gesture_toggle.py @@ -16,7 +16,7 @@ POINT_POSE = [0.2, 0.688, 0.0, 0.98, 0.98, 0.98] class GestureToggleTest(unittest.TestCase): def setUp(self) -> None: - self.gesture = GestureToggle(hold_seconds=3.0, release_seconds=0.5) + self.gesture = GestureToggle(hold_seconds=1.0, release_seconds=0.5) self.gesture.new_session() def stable_release(self, started_at: float) -> float: @@ -44,7 +44,7 @@ class GestureToggleTest(unittest.TestCase): self.assertFalse(self.gesture.active) self.assertTrue(self.gesture.freeze_right_hand) - def test_continuous_three_second_holds_toggle_once_each(self) -> None: + def test_continuous_one_second_holds_toggle_once_each(self) -> None: released_at = self.stable_release(0.0) self.assertFalse( self.gesture.update( @@ -56,7 +56,7 @@ class GestureToggleTest(unittest.TestCase): ) self.assertFalse( self.gesture.update( - released_at + 3.0, + released_at + 1.0, armed=True, input_healthy=True, pressed=True, @@ -64,7 +64,7 @@ class GestureToggleTest(unittest.TestCase): ) self.assertTrue( self.gesture.update( - released_at + 3.01, + released_at + 1.01, armed=True, input_healthy=True, pressed=True, @@ -93,7 +93,7 @@ class GestureToggleTest(unittest.TestCase): ) self.assertTrue( self.gesture.update( - second_release + 3.02, + second_release + 1.02, armed=True, input_healthy=True, pressed=True, @@ -115,7 +115,7 @@ class GestureToggleTest(unittest.TestCase): self.assertEqual(self.gesture.state, "holding_start") self.gesture.update( - released_at + 2.0, + released_at + 0.8, armed=True, input_healthy=True, pressed=False, @@ -124,14 +124,14 @@ class GestureToggleTest(unittest.TestCase): self.assertTrue(self.gesture.require_release) self.assertTrue(self.gesture.freeze_right_hand) self.gesture.update( - released_at + 2.49, + released_at + 1.29, armed=True, input_healthy=True, pressed=False, ) self.assertTrue(self.gesture.require_release) self.gesture.update( - released_at + 2.5, + released_at + 1.3, armed=True, input_healthy=True, pressed=False, @@ -148,7 +148,7 @@ class GestureToggleTest(unittest.TestCase): pressed=True, ) self.gesture.update( - released_at + 2.99, + released_at + 0.99, armed=True, input_healthy=True, pressed=None, @@ -156,7 +156,7 @@ class GestureToggleTest(unittest.TestCase): self.assertTrue(self.gesture.require_release) self.assertIsNone(self.gesture.hold_started_at) - released_at = self.stable_release(released_at + 3.0) + released_at = self.stable_release(released_at + 1.0) self.gesture.update( released_at + 0.01, armed=True, @@ -164,7 +164,7 @@ class GestureToggleTest(unittest.TestCase): pressed=True, ) self.gesture.update( - released_at + 2.99, + released_at + 0.99, armed=True, input_healthy=False, pressed=True, @@ -183,14 +183,14 @@ class GestureToggleTest(unittest.TestCase): ) self.assertTrue( self.gesture.update( - released_at + 3.02, + released_at + 1.02, armed=True, input_healthy=True, pressed=True, ) ) self.gesture.update( - released_at + 3.03, + released_at + 1.03, armed=True, input_healthy=False, pressed=True, @@ -207,7 +207,7 @@ class GestureToggleTest(unittest.TestCase): pressed=True, ) self.gesture.update( - released_at + 3.02, + released_at + 1.02, armed=True, input_healthy=True, pressed=True, @@ -215,7 +215,7 @@ class GestureToggleTest(unittest.TestCase): self.assertTrue(self.gesture.active) self.assertFalse( self.gesture.update( - released_at + 3.03, + released_at + 1.03, armed=False, input_healthy=True, pressed=True, diff --git a/tg3_local_teleop/tg3_local_teleop.py b/tg3_local_teleop/tg3_local_teleop.py index eef19c0..940a950 100755 --- a/tg3_local_teleop/tg3_local_teleop.py +++ b/tg3_local_teleop/tg3_local_teleop.py @@ -406,7 +406,7 @@ class LocalTeleopBridge(Node): ) self.right_point_gesture = GestureToggle( hold_seconds=float( - self.hands_cfg.get("right_b_point_gesture_hold_seconds", 3.0) + self.hands_cfg.get("right_b_point_gesture_hold_seconds", 1.0) ), release_seconds=float( self.hands_cfg.get("right_b_point_gesture_release_seconds", 0.5) diff --git a/tg3_omnisocket_transport/README.md b/tg3_omnisocket_transport/README.md index a63ef8c..5f7ca3e 100644 --- a/tg3_omnisocket_transport/README.md +++ b/tg3_omnisocket_transport/README.md @@ -23,7 +23,7 @@ xTELE 已处理的标量或六维 BrainCoRevo2 目标。5002 的界面事件和 右侧原始按键顺序是 `A/B/C`。按住右 `B` 时，sender 仍合并 5001 的左手 目标，但保留 5003 的原始右手开合量，不用 xTELE 处理后的右手目标覆盖。 -这样右 B 的自定义长按手势还未满 3 秒时，原厂 B 处理不会让右手提前动作。 +这样右 B 的自定义长按手势还未满 1 秒时，原厂 B 处理不会让右手提前动作。 松开 B 并连续稳定释放 `0.5 s` 后，还要等新鲜 5001 右手目标连续至少 `0.25 s` 恢复到按键前基线或当前 5003 原始开合量，才恢复双侧合并；无法确认时持续使用原始 右手值，防止释放沿后的锁存/延迟目标漏入。 diff --git a/tg3_omnisocket_transport/omnisocket_xtele_sender.py b/tg3_omnisocket_transport/omnisocket_xtele_sender.py index 586abfb..e310fdc 100755 --- a/tg3_omnisocket_transport/omnisocket_xtele_sender.py +++ b/tg3_omnisocket_transport/omnisocket_xtele_sender.py @@ -87,7 +87,7 @@ class XteleSender: self.connect_result: tuple[int, Session | None, str] | None = None # Keep xTELE's processed right-hand stream isolated for the complete # right-B press and stable-release transaction. The robot runs the - # authoritative three-second gesture toggle from the raw B state. + # authoritative one-second gesture toggle from the raw B state. self.right_b_merge_suppressed = False self.right_b_release_started_at: float | None = None self.right_b_recovery_started_at: float | None = None @@ -521,7 +521,7 @@ class XteleSender: return copy.deepcopy(processed_position), ("left", "right") # While right B is held, xTELE may emit its own right-hand gesture - # before our separate three-second B latch fires on the robot. Keep + # before our separate one-second B latch fires on the robot. Keep # the authoritative raw 5003 right-hand value, but allow an unrelated # processed left-hand target to pass through. if not isinstance(raw_position, dict) or "right" not in raw_position: