DevelopmentTeam/MassageRobot_Dobot
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swayneleong 2025-05-28 19:24:48 +08:00
parent 47a0059bd1
commit 2265b1c893
2 changed files with 7 additions and 0 deletions
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1
Massage/MassageControl/algorithms/arm_state.py
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@ -25,6 +25,7 @@ class ArmState:
self.desired_wrench = np.zeros(6,dtype=np.float64) self.desired_wrench = np.zeros(6,dtype=np.float64)
self.desired_twist = 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.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 # 导纳计算过程变量
self.arm_desired_twist = np.zeros(6,dtype=np.float64) self.arm_desired_twist = np.zeros(6,dtype=np.float64)

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