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提取夹爪等待步数常量并完善_grab_phase_machine文档#4664

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donghaiwang merged 26 commits into
OpenHUTB:mainfrom
dengzhuo0119:main
Dec 25, 2025
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提取夹爪等待步数常量并完善_grab_phase_machine文档#4664
donghaiwang merged 26 commits into
OpenHUTB:mainfrom
dengzhuo0119:main

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修改概述:

修改的详细描述

  1. 将夹爪动作等待的硬编码步数100提取为类内常量GRIPPER_WAIT_STEPS
  2. 在_grab_phase_machine方法中替换所有硬编码的100为该常量,便于统一调整
  3. 给_grab_phase_machine方法添加文档字符串,说明状态机的功能和阶段逻辑

经过了什么样的测试?

  1. 操作系统
  2. Python版本等

运行效果

动图、视频、截图等
image

@donghaiwang
donghaiwang merged commit 6be5f43 into OpenHUTB:main Dec 25, 2025
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2 participants