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Enhanced gripper control functionality

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YikaiFu-cart
2026-06-08 14:30:08 +08:00
parent 3fc8024648
commit d103439f01
11 changed files with 175 additions and 24 deletions
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2
xr_rm_bringup/config/peripherals_rm75.yaml
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@ -2,7 +2,7 @@
#
# scissorgripper 与 tools_in_ee 的顺序保持和 acRealman 一致：
# 0 -> scissor，1 -> omnipic，2 -> minisci，-1 -> no_tool。
# 当前阶段只做连接后的外设初始化，不在遥操作主循环中控制开合。
# 当前阶段在连接后初始化外设，开合命令由遥操作节点复用同一个 RealMan 连接执行。
set_initial_tool_state: false