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增加机器人夹爪

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1002142102@qq.com
2025-12-09 09:47:38 +08:00
parent 1d09062f79
commit bcb678c608
4 changed files with 10 additions and 5 deletions
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8
robot_client/teleoperators/xbox/xbox.py
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@@ -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