feat(hardware): 标定归硬件；按 name 选关节 + kSetZero；toml++ 改 vendored

标定边界上移到 invicta_hardware： - raw↔model 的 dir/offset 由 hardware 独家施加（话题收发都是模型帧）， deploy 的 InvictaInterface 退化为透传，invicta_deploy.toml 不再有 dir/offset_deg。这样 [joint_limits]（模型帧）与被限幅的指令同帧，/joint_states 也是模型角。关节选择（部分接入 / 单腿调试）： - JointCommandArray 的 name 即本次要控制的关节子集（空 = 全部已配置关节）。 - 未选中的关节写「零力矩自由」块，而不是留全 0——按协议 (0,0,0,0,0) 会解码成 P_MIN/V_MIN/T_MIN，其中 tau=T_MIN（摆臂 -100 N·m）是危险的前馈力矩。 - 新增 control_word kSetZero(6) -> 0xEF，只作用于选中的摆臂（轮毂不支持，跳过）。调试脚本 invicta_hardware/scripts/hw_debug_test.py： - 只起 hardware 节点调试：monitor/damping/angle/wheel/offset/zero 六种模式 + --joints。 - 限幅参数硬编码；发指令时默认回显模型角。构建：toml++ 改为 vendored single-header（三个包各 third_party/tomlplusplus/toml++/toml.hpp），去掉 find_package(tomlplusplus) 与 -DTOML_HEADER_ONLY（单头自带 header-only）。已在容器（localhost/custom-ros-noetic）中全新 catkin_make + smoke_test 验证通过。
feat(hardware): 接入 SocketCAN 与智身模组协议，补温度诊断和指令看门狗
2026-10-23 13:44:27 +08:00 · 2026-10-22 11:05:49 +08:00 · 2026-10-21 21:39:49 +08:00 · 2026-10-21 00:46:29 +08:00
4514 changed files with 63164 additions and 102311 deletions
@@ -1,5 +1,11 @@
+# 编译产物
 build/
-cmake-build-debug/
-data/*
-!data/.gitkeep
-.idea/
+devel/
+install/
+logs/
+src/CMakeLists.txt   # catkin_make 生成的软链
+*.pyc
+__pycache__/
+
+# onnxruntime 动态库装到 devel/lib 下会被重复安装，不纳入版本管理
+src/invicta_deploy/third_party/onnxruntime/*/lib/libonnxruntime.so.1.22.0
@@ -1,97 +0,0 @@
-cmake_minimum_required(VERSION 3.10)
-
-project(m20_sdk_deploy)
-
-# 设置C++标准
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-# 默认构建类型
-if(NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE Release)
-endif()
-# 警告忽略和编译选项
-add_definitions(-w)
-add_compile_options(-fPIC)
-
-# 配置选项
-set(BUILD_PLATFORM "x86" CACHE STRING "Target platform (x86 or arm)")
-
-if(BUILD_PLATFORM STREQUAL "arm")
-  set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
-  set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++") 
-endif()
-
-# 查找依赖包
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(drdds REQUIRED)
-
-set(THIRD_PARTY ${CMAKE_CURRENT_SOURCE_DIR}/third_party)
-
-include_directories(
-  include/types
-  include/utils
-  interface/robot
-  interface/user_command
-  interface/network
-  state_machine
-  run_policy
-  ${THIRD_PARTY}/eigen/
-  ${THIRD_PARTY}/gamepad/include
-  ${THIRD_PARTY}/onnxruntime/${BUILD_PLATFORM}/include
-)
-
-# 子目录
-add_subdirectory(interface)
-
-# Keep the default RUNPATH behavior so a correctly sourced ROS environment can
-# override stale build-machine library paths when necessary.
-set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
-set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-
-
-set(CMAKE_INSTALL_RPATH 
-  ${THIRD_PARTY}/onnxruntime/${BUILD_PLATFORM}/lib/
-  ../lib/onnxruntime/
-)
-
-file(GLOB_RECURSE STATE_MACHINE_SRC "state_machine/*.c*")
-
-add_executable(rl_deploy main.cpp ${STATE_MACHINE_SRC})
-
-add_library(onnxruntime SHARED IMPORTED)
-set_target_properties(onnxruntime PROPERTIES IMPORTED_LOCATION "${THIRD_PARTY}/onnxruntime//${BUILD_PLATFORM}/lib/libonnxruntime.so")
-
-ament_target_dependencies(rl_deploy
-  rclcpp
-  drdds
-)
-if(BUILD_PLATFORM STREQUAL "arm")
-  target_link_libraries(rl_deploy
-    interface
-    onnxruntime
-    -lpthread
-    -lm
-    -lrt
-    -ldl
-    -lstdc++
-  )
-else()
-  target_link_libraries(rl_deploy
-    interface
-    onnxruntime
-    -lpthread
-    -lm
-    -lrt
-    -ldl
-    -lstdc++
-  )
-endif()
-
-
-install(TARGETS rl_deploy
-  DESTINATION lib/${PROJECT_NAME}
-)
-
-ament_package()
@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2025, DEEPRoboticsLab
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@@ -1,140 +0,0 @@
-<mujoco model="fire_ant">
-  <compiler angle="radian" autolimits="true" balanceinertia="true"/>
-  <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast">
-    <flag multiccd="enable"/>
-  </option>
-
-  <default>
-    <geom density="0" condim="3" solref="0.005 1" solimp="0.95 0.99 0.001"
-          friction="0.6 0.005 0.0001" contype="1" conaffinity="1"/>
-    <joint damping="0" armature="0" frictionloss="0"/>
-    <default class="wheel">
-      <!-- Wheel-ground friction is intentionally independent from the other links. -->
-      <geom type="cylinder" size="0.096 0.0415" quat="0.70710678 0.70710678 0 0"
-            friction="1.0 0.005 0.0001" rgba="0.08 0.08 0.08 1"/>
-      <joint axis="0 -1 0" armature="0.00243216" frictionloss="1.0"/>
-    </default>
-  </default>
-
-  <asset>
-    <texture name="floor_tex" type="2d" builtin="checker" rgb1="0.22 0.27 0.31"
-             rgb2="0.12 0.15 0.18" width="512" height="512"/>
-    <material name="floor_mat" texture="floor_tex" texrepeat="2 2" texuniform="true"/>
-  </asset>
-
-  <worldbody>
-    <light directional="true" pos="-2 -1 4" dir="0.5 0.2 -1"/>
-    <geom name="floor" type="plane" size="30 8 0.1" material="floor_mat"
-          friction="1.0 0.005 0.0001" rgba="0.55 0.6 0.65 1"/>
-
-    <body name="base_link" pos="0 0 0.306">
-      <freejoint name="floating_base"/>
-      <inertial pos="0.00355106 0.00165076 -0.00346462" mass="15.882"
-                diaginertia="0.0880787 0.533816 0.563915"/>
-      <site name="base_site" pos="0 0 0" size="0.005"/>
-      <site name="imu_site" pos="0 0 0" size="0.005"/>
-      <geom name="base_collision" type="box" size="0.30 0.16 0.06" rgba="0.35 0.43 0.50 1"/>
-      <geom name="base_left_rail" type="cylinder" size="0.055 0.30" pos="0 0.13 0"
-            quat="0.70710678 0 0.70710678 0" rgba="0.22 0.28 0.34 1"/>
-      <geom name="base_right_rail" type="cylinder" size="0.055 0.30" pos="0 -0.13 0"
-            quat="0.70710678 0 0.70710678 0" rgba="0.22 0.28 0.34 1"/>
-
-      <body name="fl_knee" pos="0.30 0.14 0">
-        <inertial pos="0.00341917 0.00269124 -0.18126550" mass="0.612"
-                  diaginertia="0.005202 0.005202 0.0007344"/>
-        <joint name="fl_knee_joint" axis="0 -1 0" range="-2.792 2.809"
-               actuatorfrcrange="-75 75"/>
-        <geom name="fl_knee_collision" type="box" size="0.025 0.012 0.10"
-              pos="0.012 -0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
-        <geom name="fl_motor_collision" type="cylinder" size="0.04 0.045"
-              pos="0 0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
-        <body name="fl_wheel" pos="0 0.11 -0.21">
-          <inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
-          <joint name="fl_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
-          <geom name="fl_wheel_collision" class="wheel"/>
-        </body>
-      </body>
-
-      <body name="fr_knee" pos="0.30 -0.14 0">
-        <inertial pos="0.00354945 -0.00247884 -0.18008924" mass="0.612"
-                  diaginertia="0.005202 0.005202 0.0007344"/>
-        <joint name="fr_knee_joint" axis="0 -1 0" range="-2.792 2.809"
-               actuatorfrcrange="-75 75"/>
-        <geom name="fr_knee_collision" type="box" size="0.025 0.012 0.10"
-              pos="0.012 0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
-        <geom name="fr_motor_collision" type="cylinder" size="0.04 0.045"
-              pos="0 -0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
-        <body name="fr_wheel" pos="0 -0.11 -0.21">
-          <inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
-          <joint name="fr_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
-          <geom name="fr_wheel_collision" class="wheel"/>
-        </body>
-      </body>
-
-      <body name="hl_knee" pos="-0.30 0.14 0">
-        <inertial pos="-0.00354945 0.00247885 -0.18008926" mass="0.612"
-                  diaginertia="0.005202 0.005202 0.0007344"/>
-        <joint name="hl_knee_joint" axis="0 -1 0" range="-2.809 2.792"
-               actuatorfrcrange="-75 75"/>
-        <geom name="hl_knee_collision" type="box" size="0.025 0.012 0.10"
-              pos="-0.012 0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
-        <geom name="hl_motor_collision" type="cylinder" size="0.04 0.045"
-              pos="0 0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
-        <body name="hl_wheel" pos="0 0.11 -0.21">
-          <inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
-          <joint name="hl_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
-          <geom name="hl_wheel_collision" class="wheel"/>
-        </body>
-      </body>
-
-      <body name="hr_knee" pos="-0.30 -0.14 0">
-        <inertial pos="-0.00341053 -0.00270202 -0.18128749" mass="0.612"
-                  diaginertia="0.005202 0.005202 0.0007344"/>
-        <joint name="hr_knee_joint" axis="0 -1 0" range="-2.809 2.792"
-               actuatorfrcrange="-75 75"/>
-        <geom name="hr_knee_collision" type="box" size="0.025 0.012 0.10"
-              pos="-0.012 0.012 -0.10" rgba="0.82 0.31 0.16 1"/>
-        <geom name="hr_motor_collision" type="cylinder" size="0.04 0.045"
-              pos="0 -0.018 -0.21" quat="0.70710678 0.70710678 0 0" rgba="0.65 0.20 0.10 1"/>
-        <body name="hr_wheel" pos="0 -0.11 -0.21">
-          <inertial pos="0 0 0" mass="1.34" diaginertia="0.003856632 0.006174720 0.003856632"/>
-          <joint name="hr_wheel_joint" class="wheel" actuatorfrcrange="-28.68 28.68"/>
-          <geom name="hr_wheel_collision" class="wheel"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-
-  <!-- Robot/DDS order: FL knee/wheel, FR knee/wheel, HL knee/wheel, HR knee/wheel. -->
-  <actuator>
-    <motor name="fl_knee_motor" joint="fl_knee_joint" gear="1" ctrlrange="-75 75"/>
-    <motor name="fl_wheel_motor" joint="fl_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
-    <motor name="fr_knee_motor" joint="fr_knee_joint" gear="1" ctrlrange="-75 75"/>
-    <motor name="fr_wheel_motor" joint="fr_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
-    <motor name="hl_knee_motor" joint="hl_knee_joint" gear="1" ctrlrange="-75 75"/>
-    <motor name="hl_wheel_motor" joint="hl_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
-    <motor name="hr_knee_motor" joint="hr_knee_joint" gear="1" ctrlrange="-75 75"/>
-    <motor name="hr_wheel_motor" joint="hr_wheel_joint" gear="1" ctrlrange="-28.68 28.68"/>
-  </actuator>
-
-  <contact>
-    <exclude body1="base_link" body2="fl_knee"/>
-    <exclude body1="fl_knee" body2="fl_wheel"/>
-    <exclude body1="base_link" body2="fr_knee"/>
-    <exclude body1="fr_knee" body2="fr_wheel"/>
-    <exclude body1="base_link" body2="hl_knee"/>
-    <exclude body1="hl_knee" body2="hl_wheel"/>
-    <exclude body1="base_link" body2="hr_knee"/>
-    <exclude body1="hr_knee" body2="hr_wheel"/>
-  </contact>
-
-  <sensor>
-    <framequat name="base_quat" objtype="site" objname="base_site"/>
-    <accelerometer name="base_acc" site="imu_site"/>
-    <gyro name="base_gyro" site="imu_site"/>
-  </sensor>
-
-  <keyframe>
-    <key name="home" qpos="0 0 0.306 1 0 0 0 0.5 0 0.5 0 -0.5 0 -0.5 0"/>
-  </keyframe>
-</mujoco>
@@ -1,18 +0,0 @@
-<mujoco model="fire_ant_rough">
-  <include file="fire_ant.xml"/>
-  <worldbody>
-    <!-- A deterministic mixed obstacle course for Stage-2 sim2sim checks. -->
-    <geom name="step_08cm" type="box" pos="1.30 0 0.04" size="0.18 1.0 0.04"
-          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.42 0.48 0.55 1"/>
-    <geom name="step_12cm" type="box" pos="1.66 0 0.06" size="0.18 1.0 0.06"
-          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.46 0.52 0.59 1"/>
-    <geom name="step_16cm" type="box" pos="2.02 0 0.08" size="0.18 1.0 0.08"
-          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.50 0.56 0.63 1"/>
-    <geom name="top_platform" type="box" pos="2.72 0 0.08" size="0.52 1.0 0.08"
-          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.54 0.60 0.67 1"/>
-    <geom name="descending_step_10cm" type="box" pos="3.42 0 0.05" size="0.18 1.0 0.05"
-          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.46 0.52 0.59 1"/>
-    <geom name="isolated_box" type="box" pos="4.30 0 0.07" size="0.16 0.55 0.07"
-          friction="1.0 0.005 0.0001" solref="0.005 1" rgba="0.73 0.42 0.20 1"/>
-  </worldbody>
-</mujoco>
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
caowangrenbo	46bbb06978	feat(hardware): 标定归硬件；按 name 选关节 + kSetZero；toml++ 改 vendored 标定边界上移到 invicta_hardware： - raw↔model 的 dir/offset 由 hardware 独家施加（话题收发都是模型帧）， deploy 的 InvictaInterface 退化为透传，invicta_deploy.toml 不再有 dir/offset_deg。这样 [joint_limits]（模型帧）与被限幅的指令同帧，/joint_states 也是模型角。关节选择（部分接入 / 单腿调试）： - JointCommandArray 的 name 即本次要控制的关节子集（空 = 全部已配置关节）。 - 未选中的关节写「零力矩自由」块，而不是留全 0——按协议 (0,0,0,0,0) 会解码成 P_MIN/V_MIN/T_MIN，其中 tau=T_MIN（摆臂 -100 N·m）是危险的前馈力矩。 - 新增 control_word kSetZero(6) -> 0xEF，只作用于选中的摆臂（轮毂不支持，跳过）。调试脚本 invicta_hardware/scripts/hw_debug_test.py： - 只起 hardware 节点调试：monitor/damping/angle/wheel/offset/zero 六种模式 + --joints。 - 限幅参数硬编码；发指令时默认回显模型角。构建：toml++ 改为 vendored single-header（三个包各 third_party/tomlplusplus/toml++/toml.hpp），去掉 find_package(tomlplusplus) 与 -DTOML_HEADER_ONLY（单头自带 header-only）。已在容器（localhost/custom-ros-noetic）中全新 catkin_make + smoke_test 验证通过。	2026-10-23 13:44:27 +08:00
caowangrenbo	594885b9e8	feat(hardware): 接入 SocketCAN 与智身模组协议，补温度诊断和指令看门狗 - hardware: 新增 can_bus.h / joint_module_protocol.h，实现使能/失能/运行帧与 12 字节反馈帧编解码；ReadHardware/WriteHardware 落地，控制字按协议语义映射（kErrorReset 按重新使能处理，kGetStatus 无需请求） - hardware: 温度/驱动状态/电压经 /joint_diagnostics 发布（默认 10 Hz，可配置） - hardware: 指令看门狗，100 ms 无指令转阻尼，避免上游挂掉后重发最后一帧 - hardware: 限幅与归一化边界分离——[joint_limits] 是唯一实际限幅，加载期校验其不超过 [motor.*] 的归一化边界；力矩按峰值扭矩夹紧，kp/kd 越界夹紧并告警 - hardware: require_can 开关，无 CAN 时可只发状态（冒烟测试用） - remote: 1002/4 关节按 M20 的 16 槽上报（swing→HipY、wheel→Wheel，其余占位 0）， 1002/5 温度改由 /joint_diagnostics 提供 - deploy: 启动时序等订阅者出现再发（ROS1 无 latch，否则整段丢失） - msgs: 新增 JointDiagnostics - docs: 智身模组 CANFD 协议整理、待办清单	2026-10-22 11:05:49 +08:00
caowangrenbo	a173383756	refactor(config) + feat(model): 每节点一份 TOML 取代 ROS yaml；8 关节两自由度腿与单连杆 IK 配置（节点自治，跨包不共享）： - 新增各节点自己的 config/<节点>.toml（deploy / remote / hardware），只放本节点参数；删除三份 *.yaml - 各节点自带配置结构与加载器（deploy_config.h / remote_config.h / hardware_config.h），删除 state_machine/parameters/ 与 ControlParameters - TOML 解析库 toml++ 改为系统安装：find_package(tomlplusplus REQUIRED)，以 header-only 方式编译，库源码不进仓库、目标机不需部署运行时 .so - launch 只传 config_file；改 TOML 不需重编，改配置头自动触发该节点重编机器人模型（按本机构型改）： - 16 关节三关节腿 → 8 关节（每腿摆臂 + 轮） - IK 改为单连杆反解 θ = splay_sign·acos(h/L)；趴下 h=0 → 摆臂水平（±90°） - 步态倒向：趴下时前腿向前、后腿向后（splay_sign 前 +1 / 后 −1），与 M20 相反 - 起立/趴下用样条 + 速度前馈；轮 kp 恒 0；限位改为逐关节查表 - 精简死参数：机身长宽、髋偏置、轮半径、力矩限制、通用策略参数，以及 auto_calibrate 与 ±360° 回绕标定 - 硬件侧参数入库：电机量程（P65MAXS/W190S）、CAN 通道与仲裁 ID、使能帧数/间隔、每腿 bus/canid、台架增益保留（未改动 HEAD 已有功能）：多步态模型预加载与运行中切换、站立后自动进 RL 与就绪自检、遥测四路上报、阻尼态单调时钟计时、策略输出 NaN 保护验证（ROS Noetic 容器，干净构建）： - 四个包 catkin_make rc=0 - /joint_states 200 Hz（8 关节名与配置一致）、/motion_state 20 Hz - IK 目标角：站立 ±16.3°、收腿 ±66.4°、趴下 ±90.0°；趴下指令实测峰值 1.5708 rad - 协议 MotionParam=1/4 触发 idle→standup→liedown；自动进 RL 自检在零反馈下正确拦住待实测：摆臂长度/站趴高度、各关节 dir/offset_deg；invicta_hardware 的 CAN 读写仍为 TODO	2026-10-21 21:39:49 +08:00
caowangrenbo	cf70b1a1d7	Initial commit: extract M20 sim2real into ROS1 invicta project Source: DeepRoboticsLab/sdk_deploy (BSD-3-Clause), M20 sim2real part only. Packages: - invicta_msgs: JointCommandArray, MotionCommand, MotionState; standard messages (sensor_msgs/JointState, sensor_msgs/Imu) elsewhere; shared motion value defs. - invicta_deploy: state machine (idle/standup/rl/joint-damping/lie-down), ONNX policy with per-gait models, auto RL entry after standup with readiness checks, safety loop, gait->model table; no protocol/network code. - invicta_remote: vendor basic_server protocol (UDP + JSON, proto.md V1.2.0), header/MsgId, 0xE0xx error codes, motion/usage-mode/gait translation, telemetry 1002/3,4,5,6 (2/10/2/2 Hz); publishes /motion_command, subscribes /motion_state. - invicta_hardware: joint/IMU bridge skeleton (SocketCAN I/O is TODO), publishes sensor_msgs/JointState + sensor_msgs/Imu, consumes /joint_commands. Verified on ROS Noetic (Ubuntu 20.04) in docker: clean catkin_make, 200 Hz joint state / 50 Hz RL commands / 20 Hz state report, protocol conformance (MotionParam, gait preconditions, error codes), telemetry push, and end-to-end switching of two policy models with a real remote controller.	2026-10-21 00:46:29 +08:00