inspire灵巧手读取的数据问题

[StayUpppp]

我遥操作G1+inspire时读取到的灵巧手数据似乎有问题，这是在robot_hand_inspire.py打印数据的代码：

def _subscribe_hand_state(self):
    while True:
        hand_msg  = self.HandState_subscriber.Read()
        if hand_msg is not None:
            # 打印所有关节的原始数据
            if hasattr(self, 'debug_count'):
                self.debug_count += 1
            else:
                self.debug_count = 0
                
            if self.debug_count % 2 == 0:  # 每500次打印一次所有关节数据
                print("[DEBUG] All joint states:")
                for i, state in enumerate(hand_msg.states):
                    print(f"  Joint {i}: q={state.q}")
                print(f"  Inspire_Left_Hand_JointIndex: {Inspire_Left_Hand_JointIndex}")
                print(f"  Inspire_Right_Hand_JointIndex: {Inspire_Right_Hand_JointIndex}")

            for idx, id in enumerate(Inspire_Left_Hand_JointIndex):
                self.right_hand_state_array[idx] = hand_msg.states[id].q
            for idx, id in enumerate(Inspire_Right_Hand_JointIndex):
                self.left_hand_state_array[idx] = hand_msg.states[id].q
        time.sleep(0.002)

打印出来的数据只有jiont0，1，6，7的数据会变，其他的数据一直是一样的，这个是什么问题
[DEBUG] All joint states:
Joint 0: q=23.04199981689453
Joint 1: q=34.30699920654297
Joint 2: q=60.30400085449219
Joint 3: q=1.024999976158142
Joint 4: q=52.75400161743164
Joint 5: q=0.26100000739097595
Joint 6: q=4.355000019073486
Joint 7: q=16.131000518798828
Joint 8: q=60.30400085449219
Joint 9: q=1.024999976158142
Joint 10: q=52.75400161743164
Joint 11: q=0.26100000739097595
Inspire_Left_Hand_JointIndex: <enum 'Inspire_Left_Hand_JointIndex'>
Inspire_Right_Hand_JointIndex: <enum 'Inspire_Right_Hand_JointIndex'>
[DEBUG] All joint states:
Joint 0: q=23.04199981689453
Joint 1: q=34.30699920654297
Joint 2: q=60.30400085449219
Joint 3: q=1.024999976158142
Joint 4: q=52.75400161743164
Joint 5: q=0.26100000739097595
Joint 6: q=4.355000019073486
Joint 7: q=16.131000518798828
Joint 8: q=60.30400085449219
Joint 9: q=1.024999976158142
Joint 10: q=52.75400161743164
Joint 11: q=0.26100000739097595
Inspire_Left_Hand_JointIndex: <enum 'Inspire_Left_Hand_JointIndex'>
Inspire_Right_Hand_JointIndex: <enum 'Inspire_Right_Hand_JointIndex'>
[DEBUG] All joint states:
Joint 0: q=58.62699890136719
Joint 1: q=52.99300003051758
Joint 2: q=60.30400085449219
Joint 3: q=1.024999976158142
Joint 4: q=52.75400161743164
Joint 5: q=0.26100000739097595
Joint 6: q=57.60300064086914
Joint 7: q=43.0099983215332
Joint 8: q=60.30400085449219
Joint 9: q=1.024999976158142
Joint 10: q=52.75400161743164
Joint 11: q=0.26100000739097595
Inspire_Left_Hand_JointIndex: <enum 'Inspire_Left_Hand_JointIndex'>
Inspire_Right_Hand_JointIndex: <enum 'Inspire_Right_Hand_JointIndex'>
[DEBUG] All joint states:
Joint 0: q=58.62699890136719
Joint 1: q=52.99300003051758
Joint 2: q=60.30400085449219
Joint 3: q=1.024999976158142
Joint 4: q=52.75400161743164
Joint 5: q=0.26100000739097595
Joint 6: q=57.60300064086914
Joint 7: q=43.0099983215332
Joint 8: q=60.30400085449219
Joint 9: q=1.024999976158142
Joint 10: q=52.75400161743164
Joint 11: q=0.26100000739097595
Inspire_Left_Hand_JointIndex: <enum 'Inspire_Left_Hand_JointIndex'>
Inspire_Right_Hand_JointIndex: <enum 'Inspire_Right_Hand_JointIndex'>
[DEBUG] All joint states:
Joint 0: q=57.34600067138672
Joint 1: q=34.30400085449219
Joint 2: q=60.30400085449219
Joint 3: q=1.024999976158142
Joint 4: q=52.75400161743164
Joint 5: q=0.26100000739097595
Joint 6: q=15.875
Joint 7: q=0.257999986410141
Joint 8: q=60.30400085449219
Joint 9: q=1.024999976158142
Joint 10: q=52.75400161743164
Joint 11: q=0.26100000739097595
Inspire_Left_Hand_JointIndex: <enum 'Inspire_Left_Hand_JointIndex'>
Inspire_Right_Hand_JointIndex: <enum 'Inspire_Right_Hand_JointIndex'>
[DEBUG] All joint states:
Joint 0: q=34.5620002746582
Joint 1: q=2.0480000972747803
Joint 2: q=60.30400085449219
Joint 3: q=1.024999976158142
Joint 4: q=52.75400161743164
Joint 5: q=0.26100000739097595
Joint 6: q=15.875
Joint 7: q=0.257999986410141
Joint 8: q=60.30400085449219
Joint 9: q=1.024999976158142
Joint 10: q=52.75400161743164
Joint 11: q=0.26100000739097595
Inspire_Left_Hand_JointIndex: <enum 'Inspire_Left_Hand_JointIndex'>
Inspire_Right_Hand_JointIndex: <enum 'Inspire_Right_Hand_JointIndex'>
[DEBUG] All joint states:
Joint 0: q=6.914000034332275
Joint 1: q=20.479999542236328
Joint 2: q=60.30400085449219
Joint 3: q=1.024999976158142
Joint 4: q=52.75400161743164
Joint 5: q=0.26100000739097595
Joint 6: q=15.875
Joint 7: q=0.257999986410141
Joint 8: q=60.30400085449219
Joint 9: q=1.024999976158142
Joint 10: q=52.75400161743164
Joint 11: q=0.26100000739097595
Inspire_Left_Hand_JointIndex: <enum 'Inspire_Left_Hand_JointIndex'>
Inspire_Right_Hand_JointIndex: <enum 'Inspire_Right_Hand_JointIndex'>
[DEBUG] All joint states:
Joint 0: q=21.25
Joint 1: q=51.45600128173828
Joint 2: q=60.30400085449219
Joint 3: q=1.024999976158142
Joint 4: q=52.75400161743164
Joint 5: q=0.26100000739097595
Joint 6: q=15.875
Joint 7: q=0.257999986410141
Joint 8: q=60.30400085449219
Joint 9: q=1.024999976158142
Joint 10: q=52.75400161743164
Joint 11: q=0.26100000739097595
Inspire_Left_Hand_JointIndex: <enum 'Inspire_Left_Hand_JointIndex'>
Inspire_Right_Hand_JointIndex: <enum 'Inspire_Right_Hand_JointIndex'>
[DEBUG] All joint states:
Joint 0: q=38.65800094604492
Joint 1: q=35.58399963378906
Joint 2: q=60.30400085449219
Joint 3: q=1.024999976158142
Joint 4: q=52.75400161743164
Joint 5: q=0.26100000739097595
Joint 6: q=22.018999099731445
Joint 7: q=21.506000518798828
Joint 8: q=60.30400085449219
Joint 9: q=1.024999976158142
Joint 10: q=52.75400161743164
Joint 11: q=0.26100000739097595
Inspire_Left_Hand_JointIndex: <enum 'Inspire_Left_Hand_JointIndex'>
Inspire_Right_Hand_JointIndex: <enum 'Inspire_Right_Hand_JointIndex'>

[silencht]

您好

请问在控制动作时有问题吗？还是仅仅读取的状态存在问题？

[StayUpppp]

控制动作没有问题，只是读取手部状态有问题。我打印了RS485接收灵巧手回复的数据，发现有些问题，目前主要是两种命令，读状态，写入动作。在写入动作的函数中，发送数据后会在缓冲区读取9个字节的数据，但是在读取状态的函数中，发送命令后会读取20字节的数据，这个时候如果两个函数同时执行，缓冲区数据似乎会乱，导致写入动作的函数中读取的9个字节的数据本垒应该是回复给读取状态的函数
这是两组对比数据：
异常数据
0xE8 0x03 0xE8 0x03 0xE5 0x03 0xD6 0x03 0xD6 0x03 0x62
0x90 0xEB 0x01 0x04 0x12 0xCE 0x05 0x01 0xEB 0xE8 0x03 0xE8 0x03 0xE5 0x03 0xDE 0x03 0xD4 0x03 0x8C 0x90 0xEB 0x01 0x04 0x12 0xCE 0x05 0x01 0xEB
正常数据
0x90 0xEB 0x01 0x0F 0x11 0x0A 0x06 0xDF 0x03 0xE5 0x03 0xE8 0x03 0xE8 0x03 0xE8 0x03 0xD2 0x03 0x91
0x90 0xEB 0x01 0x0F 0x11 0x0A 0x06 0xDF 0x03 0xE5 0x03 0xE8 0x03 0xE8 0x03 0xE8 0x03 0xD2 0x03 0x91
正常数据是手在静止状态下读取的，如果手在运动（有写入动作的命令）时，读取的数据就会出现错误

[silencht]

你好，请尝试一下该仓库驱动： https://github.com/unitreerobotics/DFX_inspire_service