夹爪可视化界面部分更新，主要是3D模型

gripper/hardware/gripper_client.py

@@ -6,6 +6,7 @@ class GripperClient:
     def __init__(self, config):
         self.config = config
         self.motor = None
+        self.last_commanded_position = None
 
     def connect(self):
         if self.config.dry_run:
@@ -24,6 +25,7 @@ class GripperClient:
 
     def move(self, position, force_pct, label, speed_pct=None, accel=None, decel=None):
         config = self.config
+        self.last_commanded_position = int(position)
         speed_pct = config.speed if speed_pct is None else speed_pct
         accel = config.accel if accel is None else accel
         decel = config.decel if decel is None else decel
@@ -60,8 +62,15 @@ class GripperClient:
             decel=decel,
         )
 
-    def close(self, force_pct, label="close"):
-        self.move(self.config.close_pos, force_pct, label)
+    def close(self, force_pct, label="close", speed_pct=None, accel=None, decel=None):
+        self.move(
+            self.config.close_pos,
+            force_pct,
+            label,
+            speed_pct=speed_pct,
+            accel=accel,
+            decel=decel,
+        )
 
     def set_force(self, force_pct):
         config = self.config
@@ -77,14 +86,17 @@ class GripperClient:
 
     def read_position(self):
         if self.config.dry_run:
-            return None
+            return self.last_commanded_position
         try:
-            return self.motor.read_real_position()
+            position = self.motor.read_real_position()
+            if position is not None:
+                return int(position)
+            return self.last_commanded_position
         except Exception as exc:
             print(f"read_real_position failed: {exc}")
-            return None
+            return self.last_commanded_position
 
-    def hold_current_position(self, force_pct):
+    def hold_current_position(self, force_pct, speed_pct=None, accel=None, decel=None):
         current_pos = self.read_position()
         if current_pos is None:
             current_pos = self.config.hold_fallback_pos
@@ -94,7 +106,14 @@ class GripperClient:
             self._stop_by_speed()
             return None
 
-        self.move(int(current_pos), force_pct, "clamp-hold")
+        self.move(
+            int(current_pos),
+            force_pct,
+            "clamp-hold",
+            speed_pct=speed_pct,
+            accel=accel,
+            decel=decel,
+        )
         return int(current_pos)
 
     def final_open_if_needed(self):