Junhan Chang
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090d5c5cb5
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feat(app): 模型上传与注册增强 — normalize_model、upload_model_package、backend client
- model_upload.py: normalize_model_package 标准化模型目录 + upload_model_package 上传到后端
- register.py: 设备注册时自动检测并上传本地模型文件
- web/client.py: BackendClient 新增 get_model_upload_urls/publish_model/update_template_model
- tests: test_model_upload.py、test_normalize_model.py 单元测试
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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2026-03-24 23:02:18 +08:00 |
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Junhan Chang
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48e13a7b4d
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P1 Edge: 关节桥接重构 — 直接订阅 /joint_states + 资源跟随 + 吞吐优化
- HostNode 直接订阅 /joint_states (JointStateMsg)，绕过 JointRepublisher 中间人
- 新增 resource_pose 订阅，实现资源夹取跟随 (gripper attach/detach)
- 吞吐优化：死区过滤 (1e-4 rad)、抑频 (~20Hz)、增量 resource_poses
- JointRepublisher 修复 str→json.dumps (E1)
- communication.py 新增 publish_joint_state 抽象方法
- ws_client.py 实现 push_joint_state action 发送
- 57 项测试覆盖：关节分组、资源跟随、同类型多设备、优化行为
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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2026-03-24 06:32:30 +08:00 |
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Xuwznln
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b0da149252
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fix upload workflow json
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2026-02-02 17:19:07 +08:00 |
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Xuwznln
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3d2d428a96
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Update README.md
Modify resource_tracker file module path.
(cherry picked from commit 8066c200b9)
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2026-01-07 20:54:43 +08:00 |
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Xianwei Qi
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75bb5ec553
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test_transfer_liquid_2
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2025-12-26 16:42:50 +08:00 |
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Xuwznln
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a201d7c307
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update registry
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2025-12-26 03:26:45 +08:00 |
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