52 lines
1.2 KiB
Python
52 lines
1.2 KiB
Python
from enum import Enum
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class CMVRErrorCode(Enum):
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"""错误码定义"""
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CMVR_SUCCESS = 0
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CMVR_CONNECT_FAILED = 1
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CMVR_INVALID_PARAM = 2
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CMVR_RPC_FAILED = 3
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CMVR_NOT_CONNECTED = 4
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CMVR_INTERNAL_ERROR = 5
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class DeviceState(Enum):
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"""设备状态"""
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STATE_INIT = 0
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STATE_READY = 1
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STATE_RUNNING = 2
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STATE_ERROR = 3
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STATE_ESTOP = 4
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STATE_STOP = 5
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class FingerType(Enum):
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"""手指类型枚举"""
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PINKY = 0 # 小拇指
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RING = 1 # 无名指
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MIDDLE = 2 # 中指
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INDEX = 3 # 食指
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THUMB = 4 # 大拇指
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PALM = 5 # 掌心
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# 机器人相关枚举定义
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class RobotCartesian(Enum):
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"""机器人笛卡尔坐标系枚举"""
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X = 0
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Y = 1
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Z = 2
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RX = 3 # 绕X轴旋转
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RY = 4 # 绕Y轴旋转
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RZ = 5 # 绕Z轴旋转
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class RobotJointIndexDirection(Enum):
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"""机器人关节索引方向枚举"""
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FORWARD = 0
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BACKWARD = 1
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X_POSITIVE = 2 # X轴正向
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X_NEGATIVE = 3 # X轴负向
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Y_POSITIVE = 4 # Y轴正向
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Y_NEGATIVE = 5 # Y轴负向
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Z_POSITIVE = 6 # Z轴正向
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Z_NEGATIVE = 7 # Z轴负向
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ROTATE_X = 8 # 绕X轴旋转
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ROTATE_Y = 9 # 绕Y轴旋转
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ROTATE_Z = 10 # 绕Z轴旋转 |