adjust initial pose of robotic arms

xr_rm_teleop/xr_rm_teleop/realman_adapter.py

@@ -91,7 +91,6 @@ class RealManAdapter:
         joint_max_acc: float = 180.0,
         move_to_initial_pose_on_connect: bool = False,
         initial_joint_pose: list[float] | None = None,
-        initial_tcp_pose: list[float] | None = None,
         init_move_speed: int = 20,
         canfd_trajectory_mode: int = 2,
         canfd_radio: int = 0,
@@ -110,7 +109,6 @@ class RealManAdapter:
         self._joint_max_acc = joint_max_acc
         self._move_to_initial_pose_on_connect = move_to_initial_pose_on_connect
         self._initial_joint_pose = initial_joint_pose
-        self._initial_tcp_pose = initial_tcp_pose
         self._init_move_speed = init_move_speed
         self._canfd_trajectory_mode = canfd_trajectory_mode
         self._canfd_radio = canfd_radio
@@ -219,13 +217,11 @@ class RealManAdapter:
             self._try_call("rm_set_joint_max_acc", joint_index, self._joint_max_acc)
 
     def _move_to_initial_pose(self) -> None:
-        if self._initial_joint_pose is None or self._initial_tcp_pose is None:
-            raise RuntimeError("启用初始位姿移动时必须配置 initial_joint_pose 和 initial_tcp_pose")
+        if self._initial_joint_pose is None:
+            raise RuntimeError("启用初始位姿移动时必须配置 initial_joint_pose")
 
         ret = self._arm.rm_movej(self._initial_joint_pose, self._init_move_speed, 0, 0, 1)
         self._check_return(ret, "rm_movej(initial_joint_pose)")
-        ret = self._arm.rm_movel(self._initial_tcp_pose, self._init_move_speed, 0, 0, 1)
-        self._check_return(ret, "rm_movel(initial_tcp_pose)")
 
     def _try_call(self, name: str, *args: Any) -> None:
         func = getattr(self._arm, name, None)