Merge pull request #18 from agilexrobotics/pr

RosenYin · web-flow · commit 3b59ac0965be · 2025-02-10T15:10:22.000+08:00
修个Getfk demo
diff --git a/demo/V1/piper_read_fk.py b/demo/V1/piper_read_fk.py
@@ -12,7 +12,6 @@
     piper = C_PiperInterface()
     piper.ConnectPort()
     while True:
-        print(piper.GetFK())
-        print(piper.GetArmEndPoseMsgs())
-        # print(piper.GetArmJointMsgs())
+        print(f"feedback:{piper.GetFK('feedback')}")
+        print(f"control:{piper.GetFK('control')}")
         time.sleep(0.01)
diff --git a/demo/V2/piper_read_fk.py b/demo/V2/piper_read_fk.py
@@ -12,7 +12,6 @@
     piper = C_PiperInterface_V2()
     piper.ConnectPort()
     while True:
-        print(piper.GetFK())
-        print(piper.GetArmEndPoseMsgs())
-        # print(piper.GetArmJointMsgs())
+        print(f"feedback:{piper.GetFK('feedback')}")
+        print(f"control:{piper.GetFK('control')}")
         time.sleep(0.01)
