[FEAT]增加机械臂限位参数设定demo,修改CHANGELOG

Author: RosenYin

CHANGELOG.MD

@@ -8,7 +8,11 @@ Features
 - Added the teaching pendant friction coefficient parameter to the gripper/teaching pendant parameter feedback command (both feedback and sending) and adapted the protocol.
 - Added `ModeCtrl` and `EmergencyStop` functions to set modes and perform emergency stops (future updates will introduce dictionary-based parameter matching for all functions).
 - Renamed all data reading files in the demo to start with "read" for easier searching.
-- Initialized `rx_message` as an empty `Message()` in the `C_STD_CAN` encapsulation class.
+- Initialized `rx_message` as an empty `Message()` in the `C_STD_CAN` encapsulation class
+- Added `piper_param_manager` file, which includes angle and gripper range limits, applying constraints to both feedback and control messages.
+  - If feedback or control messages exceed the set limits, the values will be clamped to the boundary values.
+  - To configure limit ranges, use the `SetSDKJointLimitParam` and `SetSDKGripperRangeParam` functions to set software constraints.
+    Refer to the `piper_sdk_param.py` file in the demo for examples.
 
 Bug Fixes
 ---------

demo/V1/piper_sdk_param.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+# -*-coding:utf8-*-
+# 注意demo无法直接运行，需要pip安装sdk后才能运行
+from typing import (
+    Optional,
+)
+import time
+from piper_sdk import *
+
+if __name__ == "__main__":
+    piper = C_PiperInterface("can0")
+    piper.ConnectPort()
+    print(piper.GetSDKJointLimitParam('j6'))
+    print(piper.GetSDKGripperRangeParam())
+    piper.SetSDKGripperRangeParam(0, 0.05)
+    piper.SetSDKJointLimitParam('j6',-2.09, 2.09)
+    print(piper.GetSDKJointLimitParam('j6'))
+    print(piper.GetSDKGripperRangeParam())

demo/V2/piper_sdk_param.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+# -*-coding:utf8-*-
+# 注意demo无法直接运行，需要pip安装sdk后才能运行
+from typing import (
+    Optional,
+)
+import time
+from piper_sdk import *
+
+if __name__ == "__main__":
+    piper = C_PiperInterface_V2("can0")
+    piper.ConnectPort()
+    print(piper.GetSDKJointLimitParam('j6'))
+    print(piper.GetSDKGripperRangeParam())
+    piper.SetSDKGripperRangeParam(0, 0.05)
+    piper.SetSDKJointLimitParam('j6',-2.09, 2.09)
+    print(piper.GetSDKJointLimitParam('j6'))
+    print(piper.GetSDKGripperRangeParam())