暂存修改
This commit is contained in:
Ziwei.He
commit
04364f7a95
@ -108,13 +108,14 @@ class MassageRobot:
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self.vtxdb = VTXClient()
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# 当前执行的函数
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self.current_function = None
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self.arm_state = ArmState()
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self.arm_config = read_yaml(arm_config_path)
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# arm 实例化时机械臂类内部进行通讯连接
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# 初始化坐标系 TOOL=0 BASE=1
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self.arm = dobot_nova5(arm_ip = self.arm_config['arm_ip'])
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self.arm.start()
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self.arm.chooseRightFrame()
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self.arm.init()
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self.thermotherapy = None
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self.shockwave = None
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@ -129,35 +130,18 @@ class MassageRobot:
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# 控制器,初始为导纳控制
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self.controller_manager = ControllerManager(self.arm_state)
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self.controller_manager.add_controller(AdmittanceController,'admittance',self.arm_config['controller'][0])
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# self.controller_manager.add_controller(HybridController,'hybrid',self.arm_config['controller'][1])
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self.controller_manager.add_controller(PositionController,'position',self.arm_config['controller'][1])
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# self.controller_manager.add_controller(AdmitHybridController,'admithybrid',self.arm_config['controller'][3])
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# self.controller_manager.add_controller(HybridPidController,'hybridPid',self.arm_config['controller'][4])
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# self.controller_manager.add_controller(HybridAdmitController,'hybridAdmit',self.arm_config['controller'][5])
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# self.controller_manager.add_controller(PositionerSensorController,'positionerSensor',self.arm_config['controller'][6])
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# self.controller_manager.add_controller(AdmittanceZController,'admittanceZ',self.arm_config['controller'][7])
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self.controller_manager.add_controller(HybridController,'hybrid',self.arm_config['controller'][1])
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self.controller_manager.add_controller(PositionController,'position',self.arm_config['controller'][2])
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self.controller_manager.add_controller(AdmitHybridController,'admithybrid',self.arm_config['controller'][3])
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self.controller_manager.add_controller(HybridPidController,'hybridPid',self.arm_config['controller'][4])
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self.controller_manager.add_controller(HybridAdmitController,'hybridAdmit',self.arm_config['controller'][5])
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self.controller_manager.add_controller(PositionerSensorController,'positionerSensor',self.arm_config['controller'][6])
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self.controller_manager.add_controller(AdmittanceZController,'admittanceZ',self.arm_config['controller'][7])
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self.controller_manager.switch_controller('admittance')
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# 按摩头参数暂时使用本地数据
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massage_head_dir = self.arm_config['massage_head_dir']
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all_items = os.listdir(massage_head_dir)
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head_config_files = [f for f in all_items if os.path.isfile(os.path.join(massage_head_dir, f))]
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self.playload_dict = {}
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for file in head_config_files:
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file_address = massage_head_dir + '/' + file
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play_load = read_yaml(file_address)
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self.playload_dict[play_load['name']] = play_load
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self.current_head = 'none'
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# 读取数据
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self.gravity_base = None
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self.force_zero = None
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self.torque_zero = None
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self.tool_position = None
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self.mass_center_position = None
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self.s_tf_matrix_t = None
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arm_orientation_set0 = np.array([-180,-30,0])
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self.b_rotation_s_set0 = R.from_euler('xyz',arm_orientation_set0,degrees=True).as_matrix()
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# 频率数据赋值
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self.control_rate = Rate(self.arm_config['control_rate'])
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@ -179,15 +163,30 @@ class MassageRobot:
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# 按摩调整
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self.adjust_wrench_envent = threading.Event()
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self.adjust_wrench_envent.clear() # 调整初始化为False
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self.is_execute = False
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self.pos_increment = np.zeros(3,dtype=np.float64)
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self.adjust_wrench = np.zeros(6,dtype=np.float64)
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self.skip_pos = np.zeros(6,dtype=np.float64)
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# 按摩头参数暂时使用本地数据
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massage_head_dir = self.arm_config['massage_head_dir']
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all_items = os.listdir(massage_head_dir)
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head_config_files = [f for f in all_items if os.path.isfile(os.path.join(massage_head_dir, f))]
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self.playload_dict = {}
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for file in head_config_files:
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file_address = massage_head_dir + '/' + file
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play_load = read_yaml(file_address)
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self.playload_dict[play_load['name']] = play_load
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# self.playload_dict = self.vtxdb.get("robot_config", "massage_head")
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# print(self.playload_dict)
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self.current_head = 'none'
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self.is_waitting = False
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self.last_print_time = 0
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self.last_record_time = 0
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self.last_command_time = 0
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self.move_to_point_count = 0
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self.width_default = 5
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# 卡尔曼滤波相关初始化
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self.x_base = np.zeros(6)
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self.P_base = np.eye(6)
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@ -205,7 +204,16 @@ class MassageRobot:
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# 传感器故障计数器
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self.sensor_fail_count = 0
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# 机械臂初始化,适配中间层
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self.arm.init()
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# 读取数据
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self.gravity_base = None
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self.force_zero = None
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self.torque_zero = None
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self.tool_position = None
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self.mass_center_position = None
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self.s_tf_matrix_t = None
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arm_orientation_set0 = np.array([-180,0,-90])
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self.b_rotation_s_set0 = R.from_euler('xyz',arm_orientation_set0,degrees=True).as_matrix()
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# REF TRAJ
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self.xr = []
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@ -217,6 +225,36 @@ class MassageRobot:
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self.last_time = -1
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self.cur_time = -1
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# 预测步骤
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def kalman_predict(self,x, P, Q):
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# 预测状态（这里假设状态不变）
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x_predict = x
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# 预测误差协方差
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P_predict = P + Q
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return x_predict, P_predict
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# 更新步骤
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def kalman_update(self,x_predict, P_predict, z, R):
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# 卡尔曼增益
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# K = P_predict @ np.linalg.inv(P_predict + R)
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S = P_predict + R
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s = np.diag(S) # shape (6,)
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p_diag = np.diag(P_predict)
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K_diag = np.zeros_like(s)
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nonzero_mask = s != 0
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K_diag[nonzero_mask] = p_diag[nonzero_mask] / s[nonzero_mask]
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K = np.diag(K_diag)
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# 更新状态
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x_update = x_predict + K @ (z - x_predict)
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# 更新误差协方差
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P_update = (np.eye(len(K)) - K) @ P_predict
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return x_update, P_update
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def init_hardwares(self,ready_pose):
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self.ready_pose = np.array(ready_pose)
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self.switch_payload(self.current_head)
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print(self.arm.get_arm_position())
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time.sleep(0.5)
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def sensor_set_zero(self):
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self.arm_position_set0,self.arm_orientation_set0 = self.arm.get_arm_position()
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@ -325,30 +363,7 @@ class MassageRobot:
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return -1
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return 0
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# 预测步骤
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def kalman_predict(self,x, P, Q):
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# 预测状态（这里假设状态不变）
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x_predict = x
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# 预测误差协方差
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P_predict = P + Q
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return x_predict, P_predict
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# 更新步骤
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def kalman_update(self,x_predict, P_predict, z, R):
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# 卡尔曼增益
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# K = P_predict @ np.linalg.inv(P_predict + R)
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S = P_predict + R
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s = np.diag(S) # shape (6,)
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p_diag = np.diag(P_predict)
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K_diag = np.zeros_like(s)
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nonzero_mask = s != 0
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K_diag[nonzero_mask] = p_diag[nonzero_mask] / s[nonzero_mask]
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K = np.diag(K_diag)
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# 更新状态
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x_update = x_predict + K @ (z - x_predict)
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# 更新误差协方差
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P_update = (np.eye(len(K)) - K) @ P_predict
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return x_update, P_update
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def update_wrench(self):
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# 当前的机械臂到末端转换 (实时)
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@ -386,6 +401,29 @@ class MassageRobot:
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self.arm_state.last_external_wrench_tcp = self.arm_state.external_wrench_tcp
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return 0
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def switch_payload(self,name):
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if name in self.playload_dict:
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self.stop()
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self.current_head = name
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compensation_config = self.playload_dict[self.current_head]
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# 读取数据
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self.gravity_base = np.array(compensation_config['gravity_base'])
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self.force_zero = np.array(compensation_config['force_zero'])
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self.torque_zero = np.array(compensation_config['torque_zero'])
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self.tool_position = np.array(compensation_config['tcp_offset'])
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self.mass_center_position = np.array(compensation_config['mass_center_position'])
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self.s_tf_matrix_t = self.get_tf_matrix(self.tool_position[:3], R.from_euler('xyz',self.tool_position[3:],degrees=False).as_quat())
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tcp_offset = self.playload_dict[name]["tcp_offset"]
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tcp_offset_str = "{" + ",".join(map(str, tcp_offset)) + "}"
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print("tcp_offset_str",tcp_offset_str)
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self.arm.setEndEffector(i=9,tool_i=tcp_offset_str)
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self.arm.chooseEndEffector(i=9)
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print(self.arm.get_arm_position())
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self.logger.log_info(f"切换到{name}按摩头")
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# ####################### 位姿伺服 ##########################
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def arm_measure_loop(self):
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@ -502,9 +540,8 @@ class MassageRobot:
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command_pose[:3],
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command_pose[3:]
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)
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# pose_processed = command_pose
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print(f"pose_processed:{pose_processed}")
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print(self.arm.feedbackData.robotMode)
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# print(f"pose_processed:{pose_processed}")
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tcp_command = (
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f"ServoP({pose_processed[0]:.3f},{pose_processed[1]:.3f},"
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f"{pose_processed[2]:.3f},{pose_processed[3]:.3f},"
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@ -538,7 +575,7 @@ class MassageRobot:
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# 线程
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self.exit_event.clear()
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self.arm_measure_thread = threading.Thread(target=self.arm_measure_loop)
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self.arm_control_thread = threading.Thread(target=self.arm_command_loop)
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self.arm_control_thread = threading.Thread(target=self.arm_command_loop_traj)
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# 线程启动
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self.arm_measure_thread.start() ## 测量线程
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position,quat_rot = self.arm.get_arm_position()
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@ -587,34 +624,7 @@ class MassageRobot:
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self.arm.stop_motion()
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self.logger.log_info("MassageRobot停止")
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def init_hardwares(self,ready_pose):
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self.ready_pose = np.array(ready_pose)
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self.switch_payload(self.current_head)
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print(self.arm.get_arm_position())
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time.sleep(0.5)
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def switch_payload(self,name):
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if name in self.playload_dict:
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self.stop()
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self.current_head = name
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compensation_config = self.playload_dict[self.current_head]
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# 读取数据
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self.gravity_base = np.array(compensation_config['gravity_base'])
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self.force_zero = np.array(compensation_config['force_zero'])
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self.torque_zero = np.array(compensation_config['torque_zero'])
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self.tool_position = np.array(compensation_config['tcp_offset'])
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self.mass_center_position = np.array(compensation_config['mass_center_position'])
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self.s_tf_matrix_t = self.get_tf_matrix(self.tool_position[:3], R.from_euler('xyz',self.tool_position[3:],degrees=False).as_quat())
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tcp_offset = self.playload_dict[name]["tcp_offset"]
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tcp_offset_str = "{" + ",".join(map(str, tcp_offset)) + "}"
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print("tcp_offset_str",tcp_offset_str)
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self.arm.setEndEffector(i=9,tool_i=tcp_offset_str)
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self.arm.chooseEndEffector(i=9)
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print(self.arm.get_arm_position())
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self.logger.log_info(f"切换到{name}按摩头")
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self.controller_manager.switch_controller('position')
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else:
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self.logger.log_error(f"未找到{name}按摩头")
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@ -1558,35 +1568,35 @@ class MassageRobot:
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if __name__ == "__main__":
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# waypoints = [
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# {"time": 0.0, "position": [0.25, -0.135, 0.3443], "velocity": [0, 0, 0],
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# "acceleration": [0, 0, 0],
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# "orientation": R.from_euler("xyz", [0, 0, 0], degrees=True).as_quat()},
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# {"time": 5.0, "position": [0.30, -0.135, 0.3043], "velocity": [0, 0, 0],
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# "acceleration": [0, 0, 0],
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# "orientation": R.from_euler("xyz", [0, 30, 30], degrees=True).as_quat()},
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# ] ## 单位 m deg
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# myInterpolate = TrajectoryInterpolator(waypoints)
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# ts = np.linspace(0,5,100)
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waypoints = [
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{"time": 0.0, "position": [0.25, -0.135, 0.3443], "velocity": [0, 0, 0],
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"acceleration": [0, 0, 0],
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"orientation": R.from_euler("xyz", [0, 0, 0], degrees=True).as_quat()},
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{"time": 5.0, "position": [0.30, -0.135, 0.3043], "velocity": [0, 0, 0],
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"acceleration": [0, 0, 0],
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"orientation": R.from_euler("xyz", [0, 30, 30], degrees=True).as_quat()},
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] ## 单位 m deg
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myInterpolate = TrajectoryInterpolator(waypoints)
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ts = np.linspace(0,5,100)
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robot = MassageRobot(arm_config_path="/home/jsfb/jsfb/MassageRobot_Dobot/Massage/MassageControl/config/robot_config.yaml")
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# xr_list, vr_list, ar_list = [], [], []
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# for t in ts:
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# xr, vr, ar = myInterpolate.interpolate(t)
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# xr_list.append(xr)
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# vr_list.append(vr)
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# ar_list.append(ar)
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# xr_array = np.array(xr_list)
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# vr_array = np.array(vr_list)
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# ar_array = np.array(ar_list)
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xr_list, vr_list, ar_list = [], [], []
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for t in ts:
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xr, vr, ar = myInterpolate.interpolate(t)
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xr_list.append(xr)
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vr_list.append(vr)
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ar_list.append(ar)
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xr_array = np.array(xr_list)
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vr_array = np.array(vr_list)
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ar_array = np.array(ar_list)
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# robot.xr = xr_array
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# robot.vr = vr_array
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# robot.ar = ar_array
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# robot.ts = ts
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# robot.dt = ts[1] - ts[0]
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robot.xr = xr_array
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robot.vr = vr_array
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robot.ar = ar_array
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robot.ts = ts
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robot.dt = ts[1] - ts[0]
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ready_pose = [194.3467,-134.9880,455.3604,-180.0000,-30.0000,0.0042]
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ready_pose = [250.0, -135.0, 344.3392, -180.0, 0.0, -90.0]
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robot.current_head = 'finger_head'
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robot.force_sensor.disable_active_transmission()
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@ -1611,12 +1621,10 @@ if __name__ == "__main__":
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try:
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robot_thread = threading.Thread(target=robot.start)
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robot_thread.start()
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except KeyboardInterrupt:
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print("用户中断操作。")
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except Exception as e:
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print("Exception occurred at line:", e.__traceback__.tb_lineno)
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print("发生异常：", e)
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robot_thread.join() # 等待机械臂线程结束
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# robot.arm.disableRobot()
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