DevelopmentTeam/MassageRobot_Dobot
15
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

git bug

Browse Source
This commit is contained in:
ziwei.he 2025-05-29 16:54:51 +08:00
parent 52c84bb914
commit 0340987c15
1 changed files with 4 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
Massage/MassageControl/MassageRobot_nova5.py
View File

@ -116,11 +116,11 @@ class MassageRobot:
# 初始化坐标系 TOOL=0 BASE=1 # 初始化坐标系 TOOL=0 BASE=1
self.arm = dobot_nova5(arm_ip = self.arm_config['arm_ip']) self.arm = dobot_nova5(arm_ip = self.arm_config['arm_ip'])
self.arm.start() self.arm.start()
<<<<<<< HEAD
self.arm.chooseRightFrame() self.arm.chooseRightFrame()
=======
self.arm.init() self.arm.init()
>>>>>>> cc63eb47a5fd86a36d8af9fbf38a4b10a4c2ff7f
self.thermotherapy = None self.thermotherapy = None
self.shockwave = None self.shockwave = None
@ -145,7 +145,7 @@ class MassageRobot:
self.controller_manager.switch_controller('admittance') self.controller_manager.switch_controller('admittance')
<<<<<<< HEAD
# 读取数据 # 读取数据
self.gravity_base = None self.gravity_base = None
self.force_zero = None self.force_zero = None
@ -155,10 +155,6 @@ class MassageRobot:
self.s_tf_matrix_t = None self.s_tf_matrix_t = None
arm_orientation_set0 = np.array([-180,-30,0]) arm_orientation_set0 = np.array([-180,-30,0])
self.b_rotation_s_set0 = R.from_euler('xyz',arm_orientation_set0,degrees=True).as_matrix() self.b_rotation_s_set0 = R.from_euler('xyz',arm_orientation_set0,degrees=True).as_matrix()
=======
>>>>>>> cc63eb47a5fd86a36d8af9fbf38a4b10a4c2ff7f
# 频率数据赋值 # 频率数据赋值
self.control_rate = Rate(self.arm_config['control_rate']) self.control_rate = Rate(self.arm_config['control_rate'])
@ -644,8 +640,6 @@ class MassageRobot:
self.controller_manager.switch_controller('position') self.controller_manager.switch_controller('position')
else:
self.logger.log_error(f"未找到{name}按摩头")
def log_thread(self): def log_thread(self):
while True: while True: