增加机器人夹爪

record.yml

@@ -5,3 +5,4 @@ dataset:
   single_task: test
   repo_id: yehao/realman-test
   num_episodes: 2
+  fps: 2

robot_client/robots/realman/motors_bus.py

@@ -33,8 +33,8 @@ class RoboticArmMock:
     def rm_set_gripper_route(self,*args):
         print(f"rm_set_gripper_route:{args}")
     
-    def rm_set_gripper_position(self,*args):
-        print(f"rm_set_gripper_position:{args}")
+    def rm_set_gripper_position(self,*kargs):
+        print(f"rm_set_gripper_position:{kargs}")
     
     def rm_get_gripper_state(self):
         print("get_gripper_state")
@@ -171,7 +171,7 @@ class RealmanMotorsBus(MotorsBus):
     
     def write_arm(self, target_joint: list):
         ret = self.rmarm.rm_movej_follow(target_joint[:-1])
-        if ret != 0: 
+        if ret != None: 
             print("movej error:", ret[1])
             return ret
         

robot_client/teleoperators/xbox/xbox.py

@@ -93,7 +93,7 @@ class Xbox(Teleoperator):
         pose_speeds['x.vel'] = -current_linear_step if hat_left else (current_linear_step if hat_right else 0.0)  # X
         pose_speeds['y.vel'] = current_linear_step if hat_up else (-current_linear_step if hat_down else 0.0)  # Y
 
-        # 右摇杆X轴
+        # 左摇杆X轴
         z_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(1))
         print(f"Z轴非线性映射: {self.joystick.get_axis(1)} -> {z_mapping}")
         pose_speeds['z.vel'] = z_mapping * current_angular_step * 2  # RY
@@ -119,7 +119,11 @@ class Xbox(Teleoperator):
         # print(f"RZ轴非线性映射: {z_axis} -> {rz_mapping}")
         pose_speeds['rz.vel'] = rz_mapping * current_angular_step * 2  # RZ
 
-        pose_speeds['gripper.vel'] = 0
+        # 右摇杆Y轴控制夹爪
+        # 设置夹爪开合速度
+        gripper_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(0))
+        # print(f"gripper轴非线性映射: {self.joystick.get_axis(0)} -> {gripper_mapping}")
+        pose_speeds['gripper.vel'] = gripper_mapping * current_angular_step * 2  # RY
         
         return pose_speeds