增加机器人夹爪

2025-12-09 09:47:38 +08:00
parent 1d09062f79
commit bcb678c608
4 changed files with 10 additions and 5 deletions
--- a/robot_client/robots/realman/motors_bus.py
+++ b/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