优化手柄控制

robot_client/robots/realman/motors_bus.py

@@ -1,6 +1,6 @@
 import time
 from typing import Any, Dict
-from Robotic_Arm.rm_robot_interface import *
+from Robotic_Arm.rm_robot_interface import RoboticArm,rm_thread_mode_e
 from lerobot.motors import Motor, MotorCalibration, MotorsBus
 #动作执行成功
 ACTION_SUCCESS = 0
@@ -224,6 +224,7 @@ class RealmanMotorsBus(MotorsBus):
             values = list(actionData.values())
             for k,v in enumerate(self.init_pose):
                 self.init_pose[k]+=values[k]
+            print(f"init_pose:{self.init_pose[:-1]}")
             self.rmarm.rm_movej_p(self.init_pose[:-1], 50, 0, 0, 0)
             # self.init_pose[6]+=actionData['gripper']
             # self.rmarm.rm_set_gripper_position(int(self.init_pose[6]*1000), False, 0)
@@ -310,15 +311,15 @@ class RealmanMotorsBus(MotorsBus):
         return 0,self.motors[motor].id
 
     def _encode_sign(self, data_name, ids_values):
-        raise NotImplementedError
+        pass
 
     def _decode_sign(self, data_name, ids_values):
-        raise NotImplementedError
+        pass
 
     def _split_into_byte_chunks(self, value, length):
-        raise NotImplementedError
+        pass
 
     def broadcast_ping(self, num_retry = 0, raise_on_error = False):
-        raise NotImplementedError
+        pass
     def _handshake(self) -> None:
         pass