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优化远控

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This commit is contained in:
1002142102@qq.com
2025-12-09 16:13:41 +08:00
parent e03883f059
commit cc79fb5656
1 changed files with 12 additions and 14 deletions
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26
robot_client/robots/realman/motors_bus.py
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@@ -144,9 +144,11 @@ class RealmanMotorsBus(MotorsBus):
time.sleep(1) time.sleep(1)
self.rmarm.rm_movej(self.init_joint_position[:-1], 5, 0, 0, 1) self.rmarm.rm_movej(self.init_joint_position[:-1], 5, 0, 0, 1)
time.sleep(3)
ret = self.rmarm.rm_get_current_arm_state()
self.init_pose = ret[1]['pose'] self.init_pose = ret[1]['pose']
#读取夹状态
gripper_msg = self.rmarm.rm_get_gripper_state()[1]
gripper_state = gripper_msg['actpos']
self.init_pose.append(gripper_state)
resp = enable_flag resp = enable_flag
print(f"Returning response: {resp}") print(f"Returning response: {resp}")
return resp return resp
@@ -201,12 +203,6 @@ class RealmanMotorsBus(MotorsBus):
"gripper": (gripper_state-500)/500 "gripper": (gripper_state-500)/500
} }
def read_current_arm_joint_state(self):
return self.rmarm.rm_get_current_arm_state()[1]['joint']
def read_current_arm_endpose_state(self):
return self.rmarm.rm_get_current_arm_state()[1]['pose']
def disconnect(self, disable_torque = True): def disconnect(self, disable_torque = True):
self.safe_disconnect() self.safe_disconnect()
@@ -225,12 +221,14 @@ class RealmanMotorsBus(MotorsBus):
if name =="Goal_Position": if name =="Goal_Position":
self.write_arm(target_joint=actionData) self.write_arm(target_joint=actionData)
elif name == "Goal_Velocity":#速度透传模式 elif name == "Goal_Velocity":#速度透传模式
self.rmarm.rm_movev_canfd(list(actionData.values())[:6]) values = list(actionData.values())
gripper = actionData['gripper'] for k,v in enumerate(self.init_pose):
if gripper > 0 : self.init_pose[k]+=values[k]
self.rmarm.rm_set_gripper_release(gripper*1000, False) values[-1]
else: self.rmarm.rm_movev_canfd(self.init_pose[:6])
self.rmarm.rm_set_gripper_pick_on(gripper*1000, gripper*1000, False) #把夹爪的输入范围-1到1映射为0到1
gripper = (actionData['gripper']+1)/2
self.rmarm.rm_set_gripper_position(gripper*1000, False)
def sync_read(self, data_name, motors = None, *, normalize = True, num_retry = 0): def sync_read(self, data_name, motors = None, *, normalize = True, num_retry = 0):
if data_name == "Present_Position": if data_name == "Present_Position":