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chore(sdk): 同步 Gitea 主线的型号命名、P7 控制及文档更新 - #2
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soulteary merged 9 commits intoSep 29, 2026
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## 变更 - 将 L25 SDK、模块、文档和测试重命名为 L20。 - 将 O30i SDK、模块、文档、示例和测试重命名为 O30。 - 更新顶层导出、协议常量、pytest 标记及文档导航。 - 保留旧类名、顶层导出和旧模块路径兼容包装，降低迁移成本。 - 补充 L20/O30 命名下的导入与测试覆盖。 ## 验证 - 定向测试：121 passed。 - 构建：`uv build` 通过。 - Ruff 检查及 Python 格式检查通过。 - 全量测试中硬件相关用例因当前环境无机械臂连接失败，非硬件测试通过。 Closes #178 Reviewed-on: https://gitea.linkerhub.work/linker-bot/linkerbot-python-sdk/pulls/179 Co-authored-by: zhuzhixiang <1849346915@qq.com> Co-committed-by: zhuzhixiang <1849346915@qq.com>
Closes #180 Co-authored-by: zhuzhixiang <1849346915@qq.com> Co-committed-by: zhuzhixiang <1849346915@qq.com>
撤销 PR #181 的提交 fa2a66b，恢复合并前的示例、测试及安装文档。 Closes #186
closes #184 Reviewed-on: https://gitea.linkerhub.work/linker-bot/linkerbot-python-sdk/pulls/185 Co-authored-by: leiyilu <leiyilu2025@163.com> Co-committed-by: leiyilu <leiyilu2025@163.com>
Closes #157 对齐 docs/zh/src/reference/a7lite/ 的结构和风格，为 P7 补齐用户面参考文档，反映当前 linkerbot.P7 API 现状（混合 V1/V2 电机、仅 PP、主机路点流式 move_j/move_l、轮询式状态读取）。 README.md：快速开始、构造参数（side / interface_name / interface_type / tcp_offset / world_frame）、kinetix 依赖与异常、CAN ID（左 61–67 / 右 51–57）、URDF/Maestro 坐标系、零位与角度正方向、左右臂 7 关节表（物理含义 / URDF 轴 / 角度范围 / V1·V2 标注）、Pose 表示、生命周期 API、控制模式（仅 PP；V2 映射 P-T-M）、功能模块导航、示例入口（p7_enable_small_move.py / p7_detect.sh）。 motion.md：home / move_j / move_p / move_l / is_moving / wait_motion_done；说明 V2 无驱动端轨迹生成器，运动期间临时抬高 V/A 并由主机约 100 Hz 插值下发路点；参数范围与异常（StateError / ValidationError / RuntimeError）。 kinematics.md：forward_kinematics / inverse_kinematics / get_joint_limits / set_joint_limits。 state.md：get_state 与 State 子模型字段、单项 get_*、默认轮询间隔（角度/速度 10 ms、扭矩 50 ms、温度 1 s）、start_polling + SensorType 自定义示例、V2 反馈路径差异说明。 config.md：set_velocities / set_accelerations（范围与默认值）、set_position_kps / set_velocity_kps / set_velocity_kis、move_l 参数速查、save_params 持久化；明确无 A7 Lite 的 MIT/CSP 专用接口（如 set_limit_spds / set_mits）。 同步更新 SUMMARY.md，在 A7 Lite 与 A7 之间挂上 P7 章节。 总计 5 个 md + SUMMARY，约 598 行新增，与 A7 Lite reference（5 个 md，约 604 行）体量对齐。 Reviewed-on: https://gitea.linkerhub.work/linker-bot/linkerbot-python-sdk/pulls/187 Co-authored-by: leiyilu <leiyilu2025@163.com> Co-committed-by: leiyilu <leiyilu2025@163.com>
同步 origin/main 至 f616481，包含 L20/O30 型号命名及旧名称兼容入口、P7 J6/J7 P-T-M 控制修复和 P7 reference 文档。 保留 GitHub 平台工作流。业务代码及文档与 Gitea 主线一致。
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Changes
同步 Gitea
main至f616481，使 GitHub SDK 代码与当前 Gitea 主线一致。Validation
.github/平台工作流外，与 Giteamain@f616481完全一致；GitHub 工作流与目标分支保持一致。uv build通过，生成 sdist 和 wheel。Notes
本次未进行实机验证，未等待或核验 GitHub CI 结果。