1002142102@qq.com
cc31254055
2.增加多臂多控制器模式 3.末端姿态由欧拉角控制切换到四元数控制 4.增加vr手柄控制器 Signed-off-by: 1002142102@qq.com <1002142102@qq.com>
30 lines
1.1 KiB
Python
30 lines
1.1 KiB
Python
class RealmanMock:
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def __init__(self):
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self.joint = [0.0]*6
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self.pose = [0.0]*6
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self.gripper = 0
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pass
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def rm_create_robot_arm(self, ip: str, port: int, level: int = 3, log_func = None) -> int:
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return 1
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def rm_movej(self, joint: list[float], v: int, r: int, connect: int, block: int) -> int:
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self.joint = joint
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def rm_get_current_arm_state(self) -> tuple[int, dict[str, any]]:
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return (0, {"joint": self.joint, "pose": self.pose})
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def rm_get_gripper_state(self) -> tuple[int, dict[str, any]]:
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return (0, {"actpos": self.gripper})
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def rm_movep_canfd(self, pose: list[float], follow: bool, trajectory_mode: int = 0, radio: int = 0) -> int:
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self.pose = pose
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return 0
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def rm_set_gripper_position(self, position: int, block: bool, timeout: int) -> int:
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self.gripper = position
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return 0
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def rm_movej(self, joint: list[float], v: int, r: int, connect: int, block: int) -> int:
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self.joint = joint
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return 0
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def rm_set_arm_run_mode(self, mode: int) ->int:
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return 0
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