feat:1.Friction force identification is compatible with xarm7T;2.tcp and joint scope compatible with xarm7T

Author: SchoolMater

xarm/core/config/x_config.py

@@ -113,6 +113,15 @@ class Type:
                     (-1.692969, math.pi),  # (-1.75, math.pi),
                     (-2 * math.pi, 2 * math.pi)
                 ],
+                Type.XARM7_X13: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.094395, 2.059488),  # (-2.18, 2.18),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-3.92699, 0.191986),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-math.pi, 1.692969), 
+                    (-2 * math.pi, 2 * math.pi)
+                ]
             }
         }
         TCP_LIMITS = {
@@ -193,6 +202,14 @@ class Type:
                     (-math.pi, math.pi),
                     (-math.pi, math.pi)
                 ],
+                Type.XARM7_X13: [
+                    (-750, 750),
+                    (-750, 750),
+                    (-400, 1000),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi)
+                ]
             }
         }
 

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.13.18'
+__version__ = '1.13.19'

xarm/x3/xarm.py

@@ -1803,8 +1803,9 @@ def iden_joint_friction(self, sn=None):
         axis_map = {5: 'F', 6: 'I', 7: 'S'}
         valid_850 = self.is_850 and sn[0] == 'F' and sn[1] == 'X'
         valid_lite = self.is_lite6 and sn[0] == 'L' and sn[1] == 'I'
+        valid_xarm7t = not self.is_850 and not self.is_lite6 and sn[0] == 'C' and sn[1] == 'S'
         valid_xarm = not self.is_850 and not self.is_lite6 and sn[0] == 'X' and sn[1] == axis_map.get(self.axis, '')
-        if not (valid_850 or valid_lite or valid_xarm):
+        if not (valid_850 or valid_lite or valid_xarm or valid_xarm7t):
             self.log_api_info('iden_joint_friction, sn is not correct, axis={}, type={}, sn={}'.format(self.axis, self.device_type, sn), code=APIState.API_EXCEPTION)
             return APIState.API_EXCEPTION, -1