暂存

Massage/MassageControl/algorithms/arm_state.py

@@ -25,6 +25,7 @@ class ArmState:
         self.desired_wrench = np.zeros(6,dtype=np.float64)
         self.desired_twist = np.zeros(6,dtype=np.float64)
         self.desired_acc = np.zeros(6,dtype=np.float64)
+        self.massage_wrench = np.zeros(6,dtype=np.float64)
 
         # 导纳计算过程变量
         self.arm_desired_twist = np.zeros(6,dtype=np.float64) 

Massage/MassageControl/hardware/dobot_nova5.py

@@ -113,6 +113,12 @@ class dobot_nova5:
         feedback_thread.daemon = True
         feedback_thread.start()
     
+    def disable_servo(self):
+        pass
+
+    def enable_servo(self):
+        pass
+    
     def RunPoint_P_inPose(self,poses_list):
         '''
             RUNPOINT_P 以关节运动方式运动到目标点