feat: 添加ACT原子控制消息

xr_rm_teleop/test/test_placo_transforms.py

@@ -272,6 +272,20 @@ def test_validated_transform_rejects_invalid_se3(transform: np.ndarray) -> None:
         _validated_transform(transform)
 
 
+def test_joint_position_limits_returns_a_copy() -> None:
+    solver = object.__new__(PlacoIkSolver)
+    solver._joint_limits = np.asarray([[-1.0, 1.0]] * 7)
+
+    first = solver.joint_position_limits
+    second = solver.joint_position_limits
+
+    assert first.shape == (7, 2)
+    assert np.isfinite(first).all()
+    assert np.all(first[:, 0] < first[:, 1])
+    first[0, 0] = 999.0
+    assert second[0, 0] != 999.0
+
+
 def test_qp_result_rejects_nan_position_and_velocity_violations() -> None:
     solver = object.__new__(PlacoIkSolver)
     solver._joint_limits = np.asarray([[-1.0, 1.0]] * 7)

xr_rm_teleop/xr_rm_teleop/placo_ik_solver.py

@@ -157,6 +157,10 @@ class PlacoIkSolver:
     def base_configuration(self) -> list[float]:
         return self._robot.state.q[:7].tolist()
 
+    @property
+    def joint_position_limits(self) -> np.ndarray:
+        return self._joint_limits.copy()
+
     def update_joint_state(self, joints: list[float]) -> np.ndarray:
         values = np.asarray(joints, dtype=float)
         if values.shape != (7,) or not np.isfinite(values).all():