SmartBench/cmvr-es-cli
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linbo 2025-10-21 10:56:45 +08:00
parent 891529a095
commit d18ccb33f2
1 changed files with 16 additions and 16 deletions
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example_usage.py
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@ -338,22 +338,22 @@ def test_dexhand():
valid_dof_ids = set(dof_id_to_name.keys())
# 1. 获取初始状态
# print("\n--- 获取初始状态 ---")
# error_code, state = dexhand.get_status()
# if error_code == CMVRErrorCode.CMVR_SUCCESS:
# print(f"初始化状态: 已初始化={state.is_initialized}")
# print("各自由度状态:")
# for hand in state.hands:
# # 匹配字符串ID对应的手指名称，未知ID显示原始值
# finger_name = dof_id_to_name.get(hand.dof_id, f"未知自由度({hand.dof_id})")
# print(f" {finger_name} (ID:{hand.dof_id}): 角度={hand.angle}, 速度={hand.speed}, "
# f"受力={hand.force}, 位置={hand.position}, 温度={hand.temperature}°C")
# if hand.error != 0:
# print(f" 警告: {finger_name} 存在故障: {hand.error_message}")
# else:
# print(f"获取初始状态失败，错误码: {error_code}")
# client.close()
# return
print("\n--- 获取初始状态 ---")
error_code, state = dexhand.get_status()
if error_code == CMVRErrorCode.CMVR_SUCCESS:
print(f"初始化状态: 已初始化={state.is_initialized}")
print("各自由度状态:")
for hand in state.hands:
# 匹配字符串ID对应的手指名称，未知ID显示原始值
finger_name = dof_id_to_name.get(hand.dof_id, f"未知自由度({hand.dof_id})")
print(f" {finger_name} (ID:{hand.dof_id}): 角度={hand.angle}, 速度={hand.speed}, "
f"受力={hand.force}, 位置={hand.position}, 温度={hand.temperature}°C")
if hand.error != 0:
print(f" 警告: {finger_name} 存在故障: {hand.error_message}")
else:
print(f"获取初始状态失败，错误码: {error_code}")
client.close()
return
# 1.1 获取初始传感器数据
print("\n--- 获取初始传感器数据 ---")