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add off pos

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This commit is contained in:
LiangShiyun 2025-05-30 16:31:37 +08:00
parent 2183df1b0f
commit 5dcb63a51e
6 changed files with 77 additions and 41 deletions
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65
Massage/MassageControl/MassageRobot_nova5.py
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@ -578,7 +578,7 @@ class MassageRobot:
# 线程 # 线程
self.exit_event.clear() self.exit_event.clear()
self.arm_measure_thread = threading.Thread(target=self.arm_measure_loop) self.arm_measure_thread = threading.Thread(target=self.arm_measure_loop)
self.arm_control_thread = threading.Thread(target=self.arm_command_loop_traj) self.arm_control_thread = threading.Thread(target=self.arm_command_loop)
# 线程启动 # 线程启动
self.arm_measure_thread.start() ## 测量线程 self.arm_measure_thread.start() ## 测量线程
position,quat_rot = self.arm.get_arm_position() position,quat_rot = self.arm.get_arm_position()
@ -629,8 +629,8 @@ class MassageRobot:
self.controller_manager.switch_controller('position') self.controller_manager.switch_controller('position')
else: # else:
self.logger.log_error(f"未找到{name}按摩头") # self.logger.log_error(f"未找到{name}按摩头")
def log_thread(self): def log_thread(self):
while True: while True:
@ -1617,35 +1617,35 @@ class MassageRobot:
if __name__ == "__main__": if __name__ == "__main__":
waypoints = [ # waypoints = [
{"time": 0.0, "position": [0.25, -0.135, 0.3443], "velocity": [0, 0, 0], # {"time": 0.0, "position": [0.25, -0.135, 0.3443], "velocity": [0, 0, 0],
"acceleration": [0, 0, 0], # "acceleration": [0, 0, 0],
"orientation": R.from_euler("xyz", [0, 0, 0], degrees=True).as_quat()}, # "orientation": R.from_euler("xyz", [0, 0, 0], degrees=True).as_quat()},
{"time": 5.0, "position": [0.30, -0.135, 0.3043], "velocity": [0, 0, 0], # {"time": 5.0, "position": [0.30, -0.135, 0.3043], "velocity": [0, 0, 0],
"acceleration": [0, 0, 0], # "acceleration": [0, 0, 0],
"orientation": R.from_euler("xyz", [0, 30, 30], degrees=True).as_quat()}, # "orientation": R.from_euler("xyz", [0, 30, 30], degrees=True).as_quat()},
] ## 单位 m deg # ] ## 单位 m deg
myInterpolate = TrajectoryInterpolator(waypoints) # myInterpolate = TrajectoryInterpolator(waypoints)
ts = np.linspace(0,5,100) # ts = np.linspace(0,5,100)
robot = MassageRobot(arm_config_path="/home/jsfb/jsfb/MassageRobot_Dobot/Massage/MassageControl/config/robot_config.yaml") robot = MassageRobot(arm_config_path="/home/jsfb/jsfb_ws/MassageRobot_Dobot/Massage/MassageControl/config/robot_config.yaml")
xr_list, vr_list, ar_list = [], [], [] # xr_list, vr_list, ar_list = [], [], []
for t in ts: # for t in ts:
xr, vr, ar = myInterpolate.interpolate(t) # xr, vr, ar = myInterpolate.interpolate(t)
xr_list.append(xr) # xr_list.append(xr)
vr_list.append(vr) # vr_list.append(vr)
ar_list.append(ar) # ar_list.append(ar)
xr_array = np.array(xr_list) # xr_array = np.array(xr_list)
vr_array = np.array(vr_list) # vr_array = np.array(vr_list)
ar_array = np.array(ar_list) # ar_array = np.array(ar_list)
robot.xr = xr_array # robot.xr = xr_array
robot.vr = vr_array # robot.vr = vr_array
robot.ar = ar_array # robot.ar = ar_array
robot.ts = ts # robot.ts = ts
robot.dt = ts[1] - ts[0] # robot.dt = ts[1] - ts[0]
ready_pose = [250.0, -135.0, 344.3392, -180.0, 0.0, -90.0] ready_pose = [204.3467,-134.9880,455.3604,-180.0000,-30.0000,0.0042]
robot.current_head = 'finger_head' robot.current_head = 'finger_head'
robot.force_sensor.disable_active_transmission() robot.force_sensor.disable_active_transmission()
@ -1666,15 +1666,18 @@ if __name__ == "__main__":
atexit.register(robot.force_sensor.disconnect) atexit.register(robot.force_sensor.disconnect)
robot.arm_state.desired_wrench = np.array([0,0,-0.5,0,0,0]) robot.arm_state.desired_wrench = np.array([0,0,-1,0,0,0])
try: try:
robot_thread = threading.Thread(target=robot.start) robot_thread = threading.Thread(target=robot.start)
robot_thread.start() robot_thread.start()
except KeyboardInterrupt: except KeyboardInterrupt:
robot_thread.join()
print("用户中断操作。") print("用户中断操作。")
except Exception as e: except Exception as e:
robot_thread.join()
print("Exception occurred at line:", e.__traceback__.tb_lineno) print("Exception occurred at line:", e.__traceback__.tb_lineno)
print("发生异常：", e) print("发生异常：", e)
# robot.arm.disableRobot() # robot.arm.disableRobot()

1
Massage/MassageControl/config/hybridAdmit.yaml
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@ -3,6 +3,7 @@ name: 'hybridAdmit'
mass_z: [3.0] mass_z: [3.0]
stiff_z: [0] stiff_z: [0]
damp_z: [30] damp_z: [30]
desired_xi: 1.0
# 位控参数 # 位控参数
Kp: [20,20] Kp: [20,20]

12
Massage/MassageControl/config/robot_config.yaml
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@ -2,11 +2,17 @@
arm_ip: '192.168.5.1' arm_ip: '192.168.5.1'
# controller # controller
controller: ['Massage/MassageControl/config/admittance.yaml', controller: ['MassageControl/config/admittance.yaml',
'Massage/MassageControl/config/position.yaml'] 'MassageControl/config/hybrid.yaml',
'MassageControl/config/position.yaml',
'MassageControl/config/admithybrid.yaml',
'MassageControl/config/hybridPid.yaml',
'MassageControl/config/hybridAdmit.yaml',
'MassageControl/config/positionerSensor.yaml',
'MassageControl/config/admittanceZ.yaml',]
# massage heads diretory # massage heads diretory
massage_head_dir: 'Massage/MassageControl/config/massage_head' massage_head_dir: '/home/jsfb/jsfb_ws/global_config/massage_head'
control_rate: 55 control_rate: 55
sensor_rate: 55 sensor_rate: 55

35
Massage/MassageControl/hardware/dobot_api.py
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@ -127,6 +127,7 @@ class DobotApi:
if self.port == 29999 or self.port == 30004 or self.port == 30005: if self.port == 29999 or self.port == 30004 or self.port == 30005:
try: try:
self.socket_dobot = socket.socket() self.socket_dobot = socket.socket()
self.socket_dobot.settimeout(5) # set time out 5s
self.socket_dobot.connect((self.ip, self.port)) self.socket_dobot.connect((self.ip, self.port))
self.socket_dobot.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 144000) self.socket_dobot.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 144000)
except socket.error: except socket.error:
@ -174,14 +175,32 @@ class DobotApi:
def close(self): def close(self):
""" """
Close the port Close the socket connection safely
""" """
if (self.socket_dobot != 0): if isinstance(self.socket_dobot, socket.socket):
try: try:
self.socket_dobot.shutdown(socket.SHUT_RDWR) self.socket_dobot.shutdown(socket.SHUT_RDWR)
self.socket_dobot.close()
except socket.error as e: except socket.error as e:
print(f"Error while closing socket: {e}") print(f"[WARN] Error during socket shutdown: {e}")
try:
self.socket_dobot.close()
print("[INFO] Socket closed successfully")
except socket.error as e:
print(f"[ERROR] Error while closing socket: {e}")
finally:
self.socket_dobot = None # 清理引用
# def close(self):
# """
# Close the port
# """
# if (self.socket_dobot != 0):
# try:
# self.socket_dobot.shutdown(socket.SHUT_RDWR)
# self.socket_dobot.close()
# except socket.error as e:
# print(f"Error while closing socket: {e}")
def sendRecvMsg(self, string): def sendRecvMsg(self, string):
""" """
@ -3050,7 +3069,13 @@ class DobotApiDashboard(DobotApi):
class DobotApiFeedBack(DobotApi): class DobotApiFeedBack(DobotApi):
def __init__(self, ip, port, *args): def __init__(self, ip, port, *args):
super().__init__(ip, port, *args) try:
super().__init__(ip, port, *args)
except Exception as e:
print(f"[错误] 无法连接 Dobot（IP: {ip}, Port: {port}）：{e}")
# 可根据需要抛出异常或安全退出
raise # 或者：self.connected = False; return
# super().__init__(ip, port, *args)
self.__MyType = [] self.__MyType = []
self.last_recv_time = time.perf_counter() self.last_recv_time = time.perf_counter()

3
Massage/MassageControl/hardware/dobot_nova5.py
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@ -149,6 +149,7 @@ class dobot_nova5:
atexit.register(self.exit_task) atexit.register(self.exit_task)
self.init_pos = [-45.0009079*np.pi/180,55.5785141*np.pi/180,-120.68821716*np.pi/180,5.11103201*np.pi/180,90.00195312*np.pi/180,-90.00085449*np.pi/180] self.init_pos = [-45.0009079*np.pi/180,55.5785141*np.pi/180,-120.68821716*np.pi/180,5.11103201*np.pi/180,90.00195312*np.pi/180,-90.00085449*np.pi/180]
self.off_pos = [-44.996*np.pi/180,87.0092*np.pi/180,-147.0087*np.pi/180,-0.0048*np.pi/180,90.0010*np.pi/180,-90.0021*np.pi/180]
# 为状态管理而封装的初始化函数 # 为状态管理而封装的初始化函数
def init(self): def init(self):
@ -207,7 +208,7 @@ class dobot_nova5:
"http://127.0.0.1:5000/update_massage_status", data=instruction "http://127.0.0.1:5000/update_massage_status", data=instruction
) )
time.sleep(1) time.sleep(1)
# self.move_joint(self.off_pos) self.move_joint(self.off_pos)
self.stop_feedback.set() self.stop_feedback.set()
self.feedback_thread.join() self.feedback_thread.join()
self.dashboard.Disconnect() self.dashboard.Disconnect()

2
Massage/MassageControl/hardware/force_sensor.py
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@ -15,7 +15,7 @@ sys.path.append(os.path.abspath(os.path.join(os.getcwd(), "Massage/MassageContro
class XjcSensor: class XjcSensor:
def __init__(self, port=None, baudrate=115200, rate=250): def __init__(self, port='/dev/ttyS0', baudrate=115200, rate=250):
self.port = port self.port = port
self.baudrate = baudrate self.baudrate = baudrate
self.rate = rate self.rate = rate