Junhan Chang 48e13a7b4d 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>

2026-03-24 06:32:30 +08:00

..

__init__.py

Initial commit

2025-04-17 15:19:47 +08:00

camera.py

new registry sys

2026-03-21 19:26:24 +08:00

controller_node.py

add registry name & add always free

2026-02-07 02:11:43 +08:00

host_node.py

P1 Edge: 关节桥接重构 — 直接订阅 /joint_states + 资源跟随 + 吞吐优化

2026-03-24 06:32:30 +08:00

joint_republisher.py

P1 Edge: 关节桥接重构 — 直接订阅 /joint_states + 资源跟随 + 吞吐优化

2026-03-24 06:32:30 +08:00

resource_mesh_manager.py

add registry name & add always free

2026-02-07 02:11:43 +08:00

serial_node.py

add registry name & add always free

2026-02-07 02:11:43 +08:00

workstation.py

new registry sys

2026-03-21 19:26:24 +08:00