From 80f0074e9a05bb2ba4f6949f1e490dd66c6abe22 Mon Sep 17 00:00:00 2001 From: "Ziwei.He" Date: Wed, 21 May 2025 16:43:45 +0800 Subject: [PATCH 1/3] =?UTF-8?q?=E5=AE=9A=E7=82=B9=E4=BC=BA=E6=9C=8D?= =?UTF-8?q?=E5=AF=BC=E7=BA=B3=E8=B0=83=E8=AF=95=EF=BC=8C=E4=BC=98=E5=8C=96?= =?UTF-8?q?=E9=83=A8=E5=88=86=E4=BB=A3=E7=A0=81?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Massage/MassageControl/MassageRobot_nova5.py | 145 +- .../admittance_controller.cpython-39.pyc | Bin 3564 -> 3299 bytes .../algorithms/admittance_controller.py | 18 +- Massage/MassageControl/config/admittance.yaml | 66 +- .../MassageControl/config/robot_config.yaml | 6 +- .../__pycache__/dobot_api.cpython-38.pyc | Bin 0 -> 136685 bytes .../__pycache__/dobot_api.cpython-39.pyc | Bin 136445 -> 136445 bytes .../__pycache__/dobot_nova5.cpython-38.pyc | Bin 0 -> 16713 bytes .../__pycache__/dobot_nova5.cpython-39.pyc | Bin 15436 -> 16713 bytes .../__pycache__/force_sensor.cpython-39.pyc | Bin 10816 -> 10816 bytes Massage/MassageControl/hardware/app.log | 13265 ++++++++++++++++ .../MassageControl/hardware/dobot_nova5.py | 96 +- .../MassageControl/hardware/force_sensor.py | 2 +- .../hardware/force_sensor_tcp.py | 572 + Massage/MassageControl/hardware/servoj_8ms.py | 13 +- Massage/MassageControl/tools/Rate.py | 9 +- .../tools/__pycache__/Rate.cpython-39.pyc | Bin 2573 -> 2568 bytes logs/MassageRobot_nova5_test.log | 9987 ++---------- 18 files changed, 15249 insertions(+), 8930 deletions(-) create mode 100644 Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-38.pyc create mode 100644 Massage/MassageControl/hardware/__pycache__/dobot_nova5.cpython-38.pyc create mode 100644 Massage/MassageControl/hardware/app.log create mode 100644 Massage/MassageControl/hardware/force_sensor_tcp.py diff --git a/Massage/MassageControl/MassageRobot_nova5.py b/Massage/MassageControl/MassageRobot_nova5.py index b95eab0..46ddd72 100644 --- a/Massage/MassageControl/MassageRobot_nova5.py +++ b/Massage/MassageControl/MassageRobot_nova5.py @@ -111,6 +111,11 @@ class MassageRobot: self.sensor_fail_count = 0 # 机械臂初始化,适配中间层 self.arm.init() + + + # --- + self.last_time = -1 + self.cur_time = -1 # 预测步骤 def kalman_predict(self,x, P, Q): @@ -165,70 +170,8 @@ class MassageRobot: self.arm_state.external_wrench_tcp = self.x_tcp self.arm_state.last_external_wrench_tcp = self.arm_state.external_wrench_tcp return 0 - - # def arm_measure_loop(self): - # self.logger.log_info("机械臂测量线程启动") - # while (not self.arm.is_exit) and (not self.exit_event.is_set()): - # try: - # if not self.is_waitting: - # self.arm_state.arm_position,self.arm_state.arm_orientation = self.arm.get_arm_position() - # code = self.update_wrench() - # self.logger.log_blue(f"measure position: {self.arm_state.arm_position}") - # self.logger.log_blue(f"measure orientation: {self.arm_state.arm_orientation}") - # self.logger.log_blue(f"measure update wrench:{self.arm_state.external_wrench_tcp}") - # if code == -1: - # self.sensor_fail_count += 1 - # self.logger.log_error(f"传感器线程数据读取失败-{self.sensor_fail_count}") - # if self.sensor_fail_count > 10: - # self.logger.log_error("传感器线程数据读取失败超过10次,程序终止") - # self.stop() - # break - # else: - # self.sensor_fail_count = 0 - # except Exception as e: - # self.logger.log_error(f"机械臂测量线程报错:{e}") - # self.exit_event.set() # 控制退出while - # self.sensor_rate.precise_sleep() # 控制频率 - - # def arm_command_loop(self): - # self.logger.log_info("机械臂控制线程启动") - # self.arm.filter_matirx = np.zeros((8,7)) # 滑动窗口 - # while (not self.arm.is_exit) and (not self.exit_event.is_set()): - # try: - # if not self.is_waitting: - # process_start_time = time.time() - # self.controller_manager.step(self.control_rate.to_sec()) - # status, joints_processed = self.arm.process_command(self.arm_state.arm_position_command, - # self.arm_state.arm_orientation_command) - # self.logger.log_blue(f"处理后的关节角度: {joints_processed}") - # run_time = time.time() - process_start_time - # sleep_duration = self.control_rate.to_sec() - run_time - # delta_command = np.linalg.norm(self.arm_state.arm_position_command - self.arm_state.arm_position * 1000) - # self.logger.log_blue(f"期望位置：{self.arm_state.desired_position}") - # self.logger.log_blue(f"现在的位置：{self.arm_state.arm_position}") - # self.logger.log_blue(f"指令位置：{self.arm_state.arm_position_command}") - # self.logger.log_blue(f"位置变化量: {delta_command}") - # if delta_command > 20: # 20 mm - # self.logger.log_error("机械臂位置变化过大，可能是数据异常") - # break - # if sleep_duration > 0: - # libc.usleep(int(sleep_duration * 1e6)) - # if status == 0: - # # self.logger.log_blue("不进行伺服运动，只计算") - # self.logger.log_info("进行伺服运动") - # code = self.arm.ServoJoint(joints_processed,t=0.008,aheadtime=20,gain=200) - # else: - # self.logger.log_error("滑动窗口数据处理失败") - # self.exit_event.set() - # if code == -1: - # self.logger.log_error("机械臂急停") - # # self.stop() # 底层已经做了急停处理 - # break - # except Exception as e: - # self.logger.log_error(f"机械臂控制失败:{e}") - # self.exit_event.set() - ####################### TEST ##########################3 + # ####################### 位姿伺服 ########################## def arm_measure_loop(self): self.logger.log_info("机械臂测量线程启动") @@ -237,9 +180,6 @@ class MassageRobot: if not self.is_waitting: self.arm_state.arm_position,self.arm_state.arm_orientation = self.arm.get_arm_position() code = self.update_wrench() - # self.logger.log_blue(f"measure position: {self.arm_state.arm_position}") - # self.logger.log_blue(f"measure orientation: {self.arm_state.arm_orientation}") - # self.logger.log_blue(f"measure update wrench:{self.arm_state.external_wrench_tcp}") if code == -1: self.sensor_fail_count += 1 self.logger.log_error(f"传感器线程数据读取失败-{self.sensor_fail_count}") @@ -256,54 +196,51 @@ class MassageRobot: def arm_command_loop(self): self.logger.log_info("机械臂控制线程启动") - # self.arm.filter_matirx = np.zeros((8,7)) # 滑动窗口 ## 暂时禁用滑动窗口 while (not self.arm.is_exit) and (not self.exit_event.is_set()): try: if not self.is_waitting: process_start_time = time.time() - self.controller_manager.step(self.control_rate.to_sec()) - # self.logger.log_blue(f"目标位姿: {self.arm_state.arm_position_command},{self.arm_state.arm_orientation_command}") + + control_cycle = self.control_rate.to_sec() + self.controller_manager.step(control_cycle) + command_pose = np.concatenate([ + self.arm_state.arm_position_command * 1000, # 转毫米 + self.arm_state.arm_orientation_command + ]) + ## 输入滤波 + status, pose_processed = self.arm.process_command( + command_pose[:3], + command_pose[3:] + ) + # print(f"pose_processed:{pose_processed}") + + tcp_command = ( + f"ServoP({pose_processed[0]:.3f},{pose_processed[1]:.3f}," + f"{pose_processed[2]:.3f},{pose_processed[3]:.3f}," + f"{pose_processed[4]:.3f},{pose_processed[5]:.3f}," + "t=0.02, aheadtime=20, gain=200)" + ).encode() + run_time = time.time() - process_start_time sleep_duration = self.control_rate.to_sec() - run_time - delta_command = np.linalg.norm(self.arm_state.arm_position_command - self.arm_state.arm_position) - # self.logger.log_blue(f"期望位置：{self.arm_state.desired_position}") - # self.logger.log_blue(f"现在的位置：{self.arm_state.arm_position}") - # self.logger.log_blue(f"指令位置：{self.arm_state.arm_position_command}") - # self.logger.log_blue(f"位置变化量: {delta_command}") - if delta_command > 0.1: # m - self.logger.log_error("机械臂位置变化过大，可能是数据异常") - break + b2 =time.time() if sleep_duration > 0: - libc.usleep(int(sleep_duration * 1e6)) - # self.logger.log_blue("不进行伺服运动，只计算") - # self.logger.log_blue(f"输入位置:{self.arm_state.arm_position_command}") - # self.logger.log_blue(f"输入姿态:{self.arm_state.arm_orientation_command}") - command_pos_in_mm = self.arm_state.arm_position_command * 1000 - command_ori_in_degree = R.from_quat(self.arm_state.arm_orientation_command).as_euler('xyz',degrees=True) - combined = np.concatenate([command_pos_in_mm, command_ori_in_degree]) # 合并成一个数组 - # self.logger.log_blue(f"合并后的位姿: {combined.tolist()}") - # self.logger.log_info("进行伺服运动") - # 数据记录 - # self.logger.log_info("desired_pos",self.arm_state.desired_position) - # self.logger.log_info("desired_ori",self.arm_state.desired_orientation) - # self.logger.log_info("command_pos",self.arm_state.arm_position_command) - # self.logger.log_info("command_ori",self.arm_state.arm_orientation_command) - code = self.arm.ServoPose(combined) - # else: - # self.logger.log_error("滑动窗口数据处理失败") - # self.exit_event.set() - - if code == -1: - self.logger.log_error("机械臂急停") - # self.stop() # 底层已经做了急停处理 - break + time.sleep(sleep_duration) + print(f"real sleep:{time.time()-b2}") + self.arm.dashboard.socket_dobot.sendall(tcp_command) + if self.arm.feedbackData.robotMode == 10: # 10 当前工程暂停 + print("机械臂为暂停状态") + res = self.arm.dashboard.Continue() + code = self.arm.parseResultId(res)[0] + if code == 0: + print("机械臂继续已暂停的运动指令") + except Exception as e: self.logger.log_error(f"机械臂控制失败:{e}") self.exit_event.set() - - - - + # print(f"循环周期时间: {time.time()-process_start_time:.4f} 秒",run_time,sleep_duration) + + ####################### 位姿伺服 ########################## def start(self): if self.exit_event.is_set(): diff --git a/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc b/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc index 95fb21cc5213b85ff8a92db6370a99dfb0dbe1cb..0d9540de7a693e8f940e89c74e3fcdcf5c6cdb2a 100644 GIT binary patch delta 337 zcmaDO{aBJWk(ZZ?0SMeWbu$Dv@;0+FMopf`dW@eFD8>rJ&OluJj&XAuTPkBc+XBfN zwiKomhE^s?hJ}m^I2JP0ve&Seuq|M(VaQ_0VugqaFw}COi`B40MY(G@fU2YxGJtf% zOM^%jhAin4{w#q7GGJ4r7c$B+FhS+A7=bo2q%eVO_xX88X8{QLg;OE&&l|I_f9?^C3&u{yi1ef5_X z&eTWiTgAYluBW<^KDi&-0xv3IeRasm8qbT;UNzDpcN%DoSI!#Eoz&5+n4%Dc)`nHl z-2I=W&X$%^SG$hZ$gBvOMhhrx%1T&W9p@>{HEtrZorO5H7aVc&j?~fqX3>dkty+1& z=>g*IP2mH9OWEc$weAovOTWOlM#9Jv~!lGb1lY^y82u)&}=D{&D?7EI$r^g0j0)jMV$yMOOgF|~nBcs$Mu zpgy_%y{sTdV*zKzVohN*ksYdjxv$EZw=o6`fZeKddVw$04Q 2: + # if time.time() - self.laset_print_time > 2: # print("-------------admittance_1-------------------------------") # print("arm_position:",self.state.arm_position) # print("desired_position:",self.state.desired_position) - print(f'wrench_err: {wrench_err} ||| external_wrench_tcp: {self.state.external_wrench_tcp} ||| desired_wrench: {self.state.desired_wrench}') - print("self.state.arm_desired_acc:",self.state.arm_desired_acc) + # print(f'wrench_err: {wrench_err} ||| external_wrench_tcp: {self.state.external_wrench_tcp} ||| desired_wrench: {self.state.desired_wrench}') + # print("self.state.arm_desired_acc:",self.state.arm_desired_acc) # print("arm_orientation",R.from_quat(self.state.arm_orientation).as_euler('xyz',degrees=True)) # print("desired_orientation",R.from_quat(self.state.desired_orientation).as_euler('xyz',degrees=True)) # print("arm_position_command",self.state.arm_position_command) # print("arm_orientation_command",R.from_quat(self.state.arm_orientation_command).as_euler('xyz',degrees=True)) - print("delta_pose:",delta_pose) + # print("delta_pose:",delta_pose) # print("delta_ori_mat",delta_ori_mat) - self.laset_print_time = time.time() + # self.laset_print_time = time.time() diff --git a/Massage/MassageControl/config/admittance.yaml b/Massage/MassageControl/config/admittance.yaml index 30c027f..f627f9f 100644 --- a/Massage/MassageControl/config/admittance.yaml +++ b/Massage/MassageControl/config/admittance.yaml @@ -1,66 +1,20 @@ name: admittance -# mass_tran: [5,5,5] -# mass_rot: [5,5,5] -# stiff_tran: [500,500,500] -# stiff_rot: [500,500,500] -# desired_xi: 0.7 -# damp_tran: [-125,-125,-125] -# damp_rot: [-125,-125,-125] -# pos_scale_factor: 1 -# rot_scale_factor: 1 - -# name: admittance -# mass_tran: [1,1,1] -# mass_rot: [0.5,0.5,0.5] -# stiff_tran: [800,800,800] -# stiff_rot: [100,100,100] -# desired_xi: 1.1 -# damp_tran: [-2,-2,-2] -# damp_rot: [-10,-10,-10] -# pos_scale_factor: 1 -# rot_scale_factor: 1 - -# mass_tran: [4,4,4] -# mass_rot: [0.4,0.4,0.4] -# stiff_tran: [500,500,500] -# stiff_rot: [6,6,6] -# desired_xi: 1.1 -# damp_tran: [-1,-1,-1] -# damp_rot: [-1,-1,-1] -# pos_scale_factor: 1 -# rot_scale_factor: 12 - -# mass_tran: [1.3,0.4,2.4] -# mass_rot: [0.08,0.02,0.01] -# stiff_tran: [200,200,200] -# stiff_rot: [200,200,200] -# desired_xi: 1.1 -# damp_tran: [-1,-1,-1] -# damp_rot: [-1,-1,-1] -# pos_scale_factor: 1 -# rot_scale_factor: 1 - desired_xi: 1 pos_scale_factor: 1 rot_scale_factor: 1 - -# mass_tran: [2.0, 2.0, 2.0] -# mass_rot: [0.2, 0.2, 0.2] +# A +mass_tran: [3.0, 3.0, 3.0] +mass_rot: [0.11, 0.11, 0.11] +# P # stiff_tran: [300, 300, 300] -# stiff_rot: [3, 3, 3] -# damp_tran: [30, 30, 30] -# damp_rot: [1.0, 1.0, 1.0] - - - -mass_tran: [9.0, 9.0, 9.0] -mass_rot: [0.8, 0.8, 0.8] -stiff_tran: [0, 0, 0] -stiff_rot: [7, 7, 7] +# stiff_rot: [7, 7, 7] +stiff_tran: [270, 270, 270] +stiff_rot: [11, 11, 11] # stiff_tran: [100, 100, 100] # stiff_rot: [1, 1, 1] -damp_tran: [100, 100, 100] -damp_rot: [1, 1, 1] +# D +damp_tran: [30, 30, 30] +damp_rot: [1.1, 1.1, 1.1] # damp_tran: [40, 40, 40] # damp_rot: [3, 3, 3] diff --git a/Massage/MassageControl/config/robot_config.yaml b/Massage/MassageControl/config/robot_config.yaml index 5ce451e..7f78d12 100644 --- a/Massage/MassageControl/config/robot_config.yaml +++ b/Massage/MassageControl/config/robot_config.yaml @@ -8,6 +8,6 @@ controller: ['Massage/MassageControl/config/admittance.yaml', # massage heads diretory massage_head_dir: 'Massage/MassageControl/config/massage_head' -control_rate: 100 -sensor_rate: 100 -command_rate: 100 \ No newline at end of file +control_rate: 55 +sensor_rate: 55 +command_rate: 55 \ No newline at end of file diff --git a/Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-38.pyc b/Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-38.pyc new file mode 100644 index 0000000000000000000000000000000000000000..42d5db17e4f5e0817591e61992841151c8ccdd80 GIT binary patch literal 136685 zcmeFa34Bynb|;z_ 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my_app - INFO - time: 0.008164644241333008 +2025-05-21 14:37:14,812 - my_app - INFO - time: 0.008144378662109375 diff --git a/Massage/MassageControl/hardware/dobot_nova5.py b/Massage/MassageControl/hardware/dobot_nova5.py index c08bf87..4a9df00 100644 --- a/Massage/MassageControl/hardware/dobot_nova5.py +++ b/Massage/MassageControl/hardware/dobot_nova5.py @@ -258,9 +258,10 @@ class dobot_nova5: def ServoPose(self,poses_list): poses_list = list(map(float, poses_list)) - tcp_command = f"ServoP({poses_list[0]},{poses_list[1]},{poses_list[2]},{poses_list[3]},{poses_list[4]},{poses_list[5]}, t=0.01, aheadtime=20, gain=200)" - res = self.dashboard.sendRecvMsg(tcp_command) # 通过反馈状态来进行异常处理，故这里只需要发，不需要收 - print("ServoP msg:",res) + tcp_command = f"ServoP({poses_list[0]},{poses_list[1]},{poses_list[2]},{poses_list[3]},{poses_list[4]},{poses_list[5]}, t=0.01, aheadtime=20, gain=300)" + # res = self.dashboard.sendRecvMsg(tcp_command) # 通过反馈状态来进行异常处理，故这里只需要发，不需要收 + self.dashboard.send_data(tcp_command) + # print("ServoP msg:",res) if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11: self.dashboard.Stop() self.dashboard.EmergencyStop(mode=1) @@ -490,7 +491,8 @@ class dobot_nova5: self.last_input_command = None self.tcp_offset = None self.init_J = [0,30,-120,0,90,0] - self.filter_matirx = np.zeros((8,7)) + self.filter_matirx = np.zeros((1,7)) # 位姿伺服用 + self.filter_matrix = np.zeros((1,6)) # 角度伺服用 sleep(1) self.is_standby = False code = self.RunPoint_P_inJoint(self.init_J) @@ -512,26 +514,64 @@ class dobot_nova5: quat_rot = R.from_euler('xyz', [rx, ry, rz], degrees=True).as_quat() return pos,quat_rot - def process_command(self,arm_position_command, arm_orientation_command): - rot_euler = R.from_quat(arm_orientation_command).as_euler('xyz',degrees=True) - rot_euler = np.clip(rot_euler,-180,180) - arm_position_command *= 1000 - pose_command = np.concatenate([arm_position_command, rot_euler]) - print("pose_command",pose_command) + def __circular_mean(self,angles): + # 将角度转换为复数单位圆上的点，再计算均值 + # 为处理周期性问题 + angles_rad = np.deg2rad(angles) + x = np.mean(np.cos(angles_rad)) + y = np.mean(np.sin(angles_rad)) + return np.rad2deg(np.arctan2(y, x)) + + def process_command_angle(self,arm_joint_command): if (not self.is_exit) and (not self.is_standby): - cur = self.getAngel() # 参考关节角度 - target = self.getInverseKin(pose_command,-1,-1,1,"{" + ",".join(map(str, cur)) + "}") - # print("target",target) - self.joint_current = cur - self.joint_target = target - ress = np.array(target) - ress = np.append(ress,[1]) - self.filter_matirx = np.append(self.filter_matirx,[ress],axis=0) - self.filter_matirx = np.delete(self.filter_matirx,0,axis=0) - sum_joint = np.sum(self.filter_matirx,axis=0) - sum_joint[:6] = sum_joint[:6]/sum_joint[6] - result = sum_joint[:6] + current_joint = np.asarray(arm_joint_command) # degree + # FIFO + self.filter_matrix = np.append(self.filter_matrix,[current_joint],axis=0) + if len(self.filter_matrix)<7: + return 0,current_joint + self.filter_matrix = np.delete(self.filter_matrix,0,axis = 0) + avg_joint = np.array([self.__circular_mean(self.filter_matrix[:, i]) for i in range(len(current_joint))]) + return 0,avg_joint + return -1,None + + def process_command(self, arm_position_command, arm_orientation_command): + if (not self.is_exit) and (not self.is_standby): + # 构造当前位姿（位置 + 四元数） + current_pose = np.concatenate([ + arm_position_command, # [x, y, z] + arm_orientation_command # [qx, qy, qz, qw] + ]) + + # 更新滑动窗口（FIFO） + self.filter_matirx = np.append(self.filter_matirx, [current_pose], axis=0) + + # 如果窗口未填满，直接返回当前值（不滤波） + if len(self.filter_matirx) < 7: + rot_euler = R.from_quat(arm_orientation_command).as_euler('xyz', degrees=True) + result = np.concatenate([arm_position_command, rot_euler]) + return 0, result + + # 窗口已填满，删除最旧数据 + self.filter_matirx = np.delete(self.filter_matirx, 0, axis=0) + + # --- 位置分量：滑动平均（仅对有效数据）--- + avg_position = np.mean(self.filter_matirx[:, :3], axis=0) + + # --- 四元数分量：加权平均（处理符号歧义）--- + quats = self.filter_matirx[:, 3:7] + for i in range(1, len(quats)): + if np.dot(quats[0], quats[i]) < 0: + quats[i] = -quats[i] # 确保所有四元数在同一半球 + avg_quat = np.mean(quats, axis=0) + avg_quat = avg_quat / np.linalg.norm(avg_quat) # 归一化 + + # 转换回欧拉角 + rot_euler = R.from_quat(avg_quat).as_euler('xyz', degrees=True) + + # 合并结果 [x, y, z, roll, pitch, yaw] + result = np.concatenate([avg_position, rot_euler]) return 0, result + return -1, None @@ -542,8 +582,8 @@ if __name__ == "__main__": posJ = [0,30,-120,0,90,0] dobot.RunPoint_P_inJoint(posJ) sleep(1) - # dobot.setEndEffector(i=9,tool_i="{0.0,0.0,154.071,0.0,0.0,0.0}") - # dobot.chooseEndEffector(i=9) + dobot.setEndEffector(i=9,tool_i="{0.0,0.0,154.071,0.0,0.0,0.0}") + dobot.chooseEndEffector(i=9) # print(dobot.getPose()) # print(dobot.get_arm_position()) # pos,rot_quat = dobot.get_arm_position() @@ -560,9 +600,17 @@ if __name__ == "__main__": sleep(0.008) dobot.Get_feedInfo_pose() sleep(0.5) + + cur = dobot.Get_feedInfo_angle() # 参考关节角度 + short_cur = [f"{x:.3f}" for x in cur] + + target = dobot.getInverseKin([250.000045,-134.999537,344.115807,-179.999982,-0.000408,-90.000642],-1,-1,1,"{" + ",".join(map(str, short_cur)) + "}") + print(target) # for i in range(400): # posJ[2] += 0.04 # dobot.ServoJoint(posJ,t=0.008,aheadtime=20,gain=200) # sleep(0.007) + + # dobot.start_drag() dobot.disableRobot() \ No newline at end of file diff --git a/Massage/MassageControl/hardware/force_sensor.py b/Massage/MassageControl/hardware/force_sensor.py index eec8a25..9e9ecdb 100644 --- a/Massage/MassageControl/hardware/force_sensor.py +++ b/Massage/MassageControl/hardware/force_sensor.py @@ -13,7 +13,7 @@ sys.path.append(os.path.abspath(os.path.join(os.getcwd(), "Massage/MassageContro class XjcSensor: - def __init__(self, port="/dev/ttyUSB0", baudrate=115200, rate=250): + def __init__(self, port="/dev/ttyUSB0", baudrate=115200, rate=100): self.port = port self.baudrate = baudrate self.rate = rate diff --git a/Massage/MassageControl/hardware/force_sensor_tcp.py b/Massage/MassageControl/hardware/force_sensor_tcp.py new file mode 100644 index 0000000..e1df33a --- /dev/null +++ b/Massage/MassageControl/hardware/force_sensor_tcp.py @@ -0,0 +1,572 @@ +import time +import socket +import struct +import numpy as np +import atexit +import threading +from typing import Optional, Tuple +from matplotlib import pyplot as plt +import csv +from datetime import datetime + +class XjcSensor: + def __init__(self, host: str, port: int, rate: int = 250): + """ + 初始化 TCP 连接的力传感器 + :param host: 设备 IP 地址（如 "192.168.1.100"） + :param port: 设备端口（如 502） + :param rate: 数据采样率（100/250/500Hz） + """ + self.host = host + self.port = port + self.rate = rate + self.slave_address = 0x01 # 默认从机地址 + self.sock = None # TCP socket 对象 + self.crc16_table = self.generate_crc16_table() + # 后台读取相关的属性 + self._background_thread = None + self._stop_background = False + self._last_reading = None + self._reading_lock = threading.Lock() + # 建立 TCP 连接 + self.connect() + + # 注册退出时的清理函数 + atexit.register(self.disconnect) + + def __new__(cls, *args, **kwargs): + """单例模式""" + if not hasattr(cls, 'instance'): + cls.instance = super(XjcSensor, cls).__new__(cls) + return cls.instance + + def connect(self): + """建立 TCP 连接""" + try: + self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.sock.settimeout(1.0) # 设置超时时间 + self.sock.connect((self.host, self.port)) + print(f"Connected to {self.host}:{self.port}") + except Exception as e: + print(f"TCP connection failed: {e}") + raise + + def send_and_receive(self, data: bytes, expected_response_len: int) -> Optional[bytes]: + """ + 发送数据并接收响应 + :param data: 要发送的字节数据 + :param expected_response_len: 预期响应的长度 + :return: 收到的字节数据（失败返回 None） + """ + try: + self.sock.sendall(data) + response = self.sock.recv(expected_response_len) + return response + except socket.timeout: + print("Timeout while waiting for response") + return None + except Exception as e: + print(f"TCP communication error: {e}") + return None + + def set_zero(self) -> int: + """传感器置零（TCP 版本）""" + if self.slave_address == 0x01: + zero_cmd = bytes.fromhex('01 10 46 1C 00 02 04 00 00 00 00 E8 95') + elif self.slave_address == 0x09: + zero_cmd = bytes.fromhex('09 10 46 1C 00 02 04 00 00 00 00 C2 F5') + + response = self.send_and_receive(zero_cmd, 8) + if not response: + print("set zero fail") + return -1 + + # CRC 校验（假设协议要求） + hi_check, lo_check = self.crc16(response[:-2]) + if (response[0] != self.slave_address or + response[1] != 0x10 or + response[-2] != lo_check or + response[-1] != hi_check): + print("Set zero failed: CRC check error") + return -1 + + print("Set zero success!") + return 0 + + def read_data_f32(self) -> np.ndarray: + """ + TCP版本 - 读取六维力传感器数据 (float32格式) + 返回: + np.ndarray(6,) - 六维力数据 [Fx,Fy,Fz,Mx,My,Mz] + 读取失败返回 -1 + """ + # 构造读取命令 + + if self.slave_address == 0x01: + command = bytes.fromhex('01 04 00 00 00 0C F0 0F') + elif self.slave_address == 0x09: + command = bytes.fromhex('09 04 00 54 00 0C B0 97') + + try: + # 清空接收缓冲区 + self._clear_tcp_buffer() + + # 接收完整响应 + response = self.send_and_receive(command, 29) + + # CRC校验 + Hi_check, Lo_check = self.crc16(response[:-2]) + if (response[0] != self.slave_address or + response[1] != 0x04 or + response[2] != 24 or # 数据长度字节 + response[-2] != Lo_check or + response[-1] != Hi_check): + print(f"Protocol error! Received: {response.hex(' ')}") + print(f"Expected slave:{self.slave_address}, " + f"func:0x04, len:24, " + f"CRC:{Lo_check:02X}{Hi_check:02X}") + return -1 + + # 解析6个float32数据 (大端序) + sensor_data = struct.unpack('>ffffff', response[3:27]) + return np.array(sensor_data) + + except socket.timeout: + print("Timeout while waiting for sensor response") + return -1 + except ConnectionError as e: + print(f"TCP connection error: {e}") + return -1 + except Exception as e: + print(f"Unexpected error in read_data_f32: {str(e)}") + return -1 + + def _clear_tcp_buffer(self): + """清空TCP接收缓冲区""" + self.sock.settimeout(0.1) # 短暂超时，避免阻塞 + try: + while True: + data = self.sock.recv(1024) + if not data: # 连接关闭或无数据 + break + print(f"Cleared TCP buffer: {data.hex(' ')}") # 调试输出 + except socket.timeout: + pass # 预期内的超时，表示缓冲区已空 + finally: + self.sock.settimeout(2.0) # 恢复默认超时 + + def enable_active_transmission(self) -> int: + """启用主动传输模式（TCP 版本）""" + if self.rate == 100: + cmd = bytes.fromhex('01 10 01 9A 00 01 02 00 00 AB 6A') if self.slave_address == 0x01 else \ + bytes.fromhex('09 10 01 9A 00 01 02 00 00 CC AA') + elif self.rate == 250: + cmd = bytes.fromhex('01 10 01 9A 00 01 02 00 01 6A AA') if self.slave_address == 0x01 else \ + bytes.fromhex('09 10 01 9A 00 01 02 00 01 0D 6A') + elif self.rate == 500: + cmd = bytes.fromhex('01 10 01 9A 00 01 02 00 02 2A AB') if self.slave_address == 0x01 else \ + bytes.fromhex('09 10 01 9A 00 01 02 00 02 4D 6B') + else: + print("Unsupported rate") + return -1 + + response = self.send_and_receive(cmd, 8) + if response and response[1] == 0x10: # 检查响应功能码 + print(f"Active transmission enabled at {self.rate}Hz") + return 0 + else: + print("Failed to enable active transmission") + return -1 + + def disconnect(self): + """关闭 TCP 连接""" + if self.sock: + try: + self.sock.close() + print("TCP connection closed") + except Exception as e: + print(f"Error while closing socket: {e}") + self.sock = None + def start_background_reading(self): + """ + 启动后台读取任务，每秒读取一次传感器数据 + """ + if self._background_thread is not None and self._background_thread.is_alive(): + print("Background reading is already running") + return False + + self._stop_background = False + self._background_thread = threading.Thread(target=self._background_reading_task) + self._background_thread.daemon = True # 设置为守护线程 + self._background_thread.start() + return True + + def stop_background_reading(self): + """ + 停止后台读取任务 + """ + if self._background_thread is None or not self._background_thread.is_alive(): + print("No background reading is running") + return False + + self._stop_background = True + self._background_thread.join(timeout=2.0) # 等待线程结束，最多等待2秒 + self._background_thread = None + return True + + def _background_reading_task(self): + """ + 后台读取任务的实现 + """ + while not self._stop_background: + try: + data = self.read_data_f32() + if isinstance(data, np.ndarray): + with self._reading_lock: + self._last_reading = data + else: + self.connect() + except Exception as e: + print(f"Error in background reading: {e}") + time.sleep(1.0) # 每秒读取一次 + + def get_last_reading(self): + """ + 获取最近一次的读数 + """ + with self._reading_lock: + return self._last_reading + + # ------------------------- 以下方法保持不变 ------------------------- + @staticmethod + def generate_crc16_table(): + """CRC16 表生成（与原代码相同）""" + table = [] + polynomial = 0xA001 + for i in range(256): + crc = i + for _ in range(8): + if crc & 0x0001: + crc = (crc >> 1) ^ polynomial + else: + crc >>= 1 + table.append(crc) + return table + + def crc16(self, data: bytes): + """CRC16 计算（与原代码相同）""" + crc = 0xFFFF + for byte in data: + crc = (crc >> 8) ^ self.crc16_table[(crc ^ byte) & 0xFF] + return (crc >> 8) & 0xFF, crc & 0xFF + + def __del__(self): + """析构时自动断开连接""" + self.disconnect() + + def disable_active_transmission(self) -> int: + """ + 禁用传感器的主动传输模式（TCP 版本） + Returns: + 0 表示成功，-1 表示失败 + """ + try: + # 构造禁用命令（原代码中的 FF x11 字节流） + disable_cmd = bytes.fromhex('FF FF FF FF FF FF FF FF FF FF FF') + print("Disabling active transmission mode...") + + # 检查 TCP 连接是否有效 + if not self.sock: + raise ConnectionError("TCP connection is not established") + + # 发送禁用命令 + self.sock.sendall(disable_cmd) + print("Active transmission disabled successfully") + return 0 + + except ConnectionError as e: + print(f"Connection error: {e}") + return -1 + except socket.timeout: + print("Timeout while sending disable command") + return -1 + except Exception as e: + print(f"Unexpected error: {e}") + return -1 + + def read(self): + """ + TCP Version - Read the sensor's data in passive mode. + Returns: + np.ndarray(6,) - Six-axis force/torque data [Fx, Fy, Fz, Mx, My, Mz] + None if reading fails + """ + try: + # Clear any existing data in the TCP buffer first + # self._clear_tcp_buffer() + + # Search for frame header (0x20 0x4E) + header_found = False + start_time = time.time() + timeout = 1.0 # 1 second timeout + + while not header_found and (time.time() - start_time < timeout): + # Read one byte at a time looking for header + byte1 = self.sock.recv(1) + if not byte1: + continue # No data available yet + + if byte1 == b'\x20': + byte2 = self.sock.recv(1) + if byte2 == b'\x4E': + header_found = True + + if not header_found: + print("Frame header not found within timeout period") + return None + + # Now read the remaining 14 bytes of the frame + response = bytearray([0x20, 0x4E]) # Start with the header we found + remaining_bytes = 14 + bytes_received = 0 + start_time = time.time() + + while bytes_received < remaining_bytes and (time.time() - start_time < timeout): + chunk = self.sock.recv(remaining_bytes - bytes_received) + if chunk: + response.extend(chunk) + bytes_received += len(chunk) + + if bytes_received < remaining_bytes: + print(f"Incomplete frame received. Got {len(response)} bytes, expected 16") + return None + + # Verify CRC checksum + Hi_check, Lo_check = self.crc16(response[:-2]) + if response[-1] != Hi_check or response[-2] != Lo_check: + print("CRC check failed!") + print(f"Received CRC: {response[-2]:02X}{response[-1]:02X}") + print(f"Calculated CRC: {Lo_check:02X}{Hi_check:02X}") + return None + + # Parse the sensor data + sensor_data = self.parse_data_passive(response) + return sensor_data + + except socket.timeout: + print("Timeout while waiting for sensor data") + return None + except ConnectionError as e: + print(f"TCP connection error: {e}") + return None + except Exception as e: + print(f"Unexpected error in TCP read(): {str(e)}") + return None + + def parse_data_passive(self, buffer): + values = [ + int.from_bytes(buffer[i:i+2], byteorder='little', signed=True) + for i in range(2, 14, 2) + ] + Fx, Fy, Fz = np.array(values[:3]) / 10.0 + Mx, My, Mz = np.array(values[3:]) / 1000.0 + return np.array([Fx, Fy, Fz, Mx, My, Mz]) + + +# 外部 +def test_sensor_frequency(sensor, mode='active', duration=5.0): + """ + 测试传感器在不同模式下的实际数据获取频率 + + 参数: + sensor: XjcSensor实例 + mode: 'active'(主动模式) 或 'polling'(查询模式) + duration: 测试持续时间(秒) + + 返回: + dict: 包含测试结果的字典 + """ + # 准备测试环境 + if mode == 'active': + print("\n=== 测试主动传输模式 ===") + sensor.enable_active_transmission() + read_func = sensor.read + else: + print("\n=== 测试查询模式 ===") + sensor.disable_active_transmission() # 确保不在主动模式 + time.sleep(0.5) + sensor.disable_active_transmission() # 确保不在主动模式 + time.sleep(0.5) + sensor.disable_active_transmission() # 确保不在主动模式 + time.sleep(0.5) + read_func = sensor.read_data_f32 + + # 初始化测试变量 + timestamps = [] + data_count = 0 + start_time = time.perf_counter() + end_time = start_time + duration + + print(f"开始测试，持续时间 {duration} 秒...") + + # 主测试循环 + while time.perf_counter() < end_time: + data = read_func() + print(data) + if data is not None: + timestamps.append(time.perf_counter()) + data_count += 1 + # print(timestamps) + # 计算统计结果 + if data_count < 2: + print("警告: 采集到的数据点不足") + return None + + intervals = np.diff(timestamps) + save_intervals_to_csv(timestamps) + avg_interval = np.mean(intervals) + min_interval = np.min(intervals) + max_interval = np.max(intervals) + std_interval = np.std(intervals) + avg_freq = 1.0 / avg_interval + + # 打印结果 + print("\n测试结果:") + print(f"总数据点数: {data_count}") + print(f"平均频率: {avg_freq:.2f} Hz") + print(f"最小间隔: {min_interval*1000:.3f} ms") + print(f"最大间隔: {max_interval*1000:.3f} ms") + print(f"间隔标准差: {std_interval*1000:.3f} ms") + + # 返回结果字典 + return { + 'mode': mode, + 'duration': duration, + 'data_count': data_count, + 'avg_freq': avg_freq, + 'min_interval': min_interval, + 'max_interval': max_interval, + 'std_interval': std_interval, + 'timestamps': timestamps, + 'intervals': intervals + } + +def plot_test_results(active_results, polling_results): + """绘制两种模式的测试结果对比图""" + plt.figure(figsize=(12, 8)) + + # 间隔时间分布图 + plt.subplot(2, 1, 1) + plt.hist(active_results['intervals']*1000, bins=50, alpha=0.7, label='主动模式') + plt.hist(polling_results['intervals']*1000, bins=50, alpha=0.7, label='查询模式') + plt.xlabel('间隔时间 (ms)') + plt.ylabel('出现次数') + plt.title('数据间隔时间分布') + plt.legend() + plt.grid(True) + + # 间隔时间序列图 + plt.subplot(2, 1, 2) + plt.plot(np.arange(len(active_results['intervals'])), + active_results['intervals']*1000, 'b.', label='主动模式') + plt.plot(np.arange(len(polling_results['intervals'])), + polling_results['intervals']*1000, 'r.', label='查询模式') + plt.xlabel('数据点序号') + plt.ylabel('间隔时间 (ms)') + plt.title('数据间隔时间序列') + plt.legend() + plt.grid(True) + + plt.tight_layout() + plt.show() + +def compare_modes(sensor, duration=5.0): + """比较两种工作模式的性能""" + # 测试主动模式 + active_results = test_sensor_frequency(sensor, 'active', duration) + time.sleep(1) # 模式切换间隔 + + # 测试查询模式 + polling_results = test_sensor_frequency(sensor, 'polling', duration) + time.sleep(1) + + # 打印对比报告 + print("\n=== 模式对比报告 ===") + print(f"{'指标':<15} {'主动模式':>15} {'查询模式':>15}") + print(f"{'平均频率(Hz)':<15} {active_results['avg_freq']:>15.2f} {polling_results['avg_freq']:>15.2f}") + print(f"{'最小间隔(ms)':<15} {active_results['min_interval']*1000:>15.3f} {polling_results['min_interval']*1000:>15.3f}") + print(f"{'最大间隔(ms)':<15} {active_results['max_interval']*1000:>15.3f} {polling_results['max_interval']*1000:>15.3f}") + print(f"{'间隔标准差(ms)':<15} {active_results['std_interval']*1000:>15.3f} {polling_results['std_interval']*1000:>15.3f}") + + # 绘制对比图表 + plot_test_results(active_results, polling_results) + + return active_results, polling_results + +def save_intervals_to_csv(timestamps, filename="sensor_intervals.csv"): + """ + Save timestamp intervals to CSV file with metadata + + Args: + timestamps: List of timestamp values (from time.perf_counter()) + filename: Output CSV filename + """ + if len(timestamps) < 2: + print("Not enough timestamps to calculate intervals") + return + + # Calculate intervals in milliseconds + intervals_ms = np.diff(timestamps) * 1000 + + # Prepare data rows + rows = [] + for i, interval in enumerate(intervals_ms): + rows.append({ + "reading_number": i+1, + "interval_ms": f"{interval:.4f}", + "timestamp": timestamps[i], + "expected_interval_ms": (1000/250) if i==0 else "", # For 250Hz + "deviation_ms": f"{interval - (1000/250):.4f}" if i>0 else "" + }) + + # CSV header + fieldnames = ["reading_number", "interval_ms", "timestamp", + "expected_interval_ms", "deviation_ms"] + + # Write to file + with open(filename, 'w', newline='') as csvfile: + writer = csv.DictWriter(csvfile, fieldnames=fieldnames) + writer.writeheader() + writer.writerows(rows) + + print(f"Saved {len(intervals_ms)} intervals to {filename}") + +if __name__ == "__main__": + # 替换为你的传感器 IP 和端口 + sensor = XjcSensor("192.168.5.1", 60000) + + # 示例操作 + + sensor.disable_active_transmission() + time.sleep(0.5) + sensor.disable_active_transmission() + time.sleep(0.5) + sensor.disable_active_transmission() + time.sleep(0.5) + sensor.set_zero() + + # sensor.set_zero() + # sensor.disable_active_transmission() + + # while True: + # data = sensor.read_data_f32() + # if data is not None: + # print(f"Force data: {data}") + # sensor.enable_active_transmission() + # while True: + # sensor_data = sensor.read() + # if sensor_data is None: + # print('failed to get force sensor data!') + # print(sensor_data) + test_sensor_frequency(sensor) + # compare_modes(sensor) \ No newline at end of file diff --git a/Massage/MassageControl/hardware/servoj_8ms.py b/Massage/MassageControl/hardware/servoj_8ms.py index a82df86..a94985e 100644 --- a/Massage/MassageControl/hardware/servoj_8ms.py +++ b/Massage/MassageControl/hardware/servoj_8ms.py @@ -29,14 +29,14 @@ def ServoP(client, pt_floats): client.send(tcp_command) def ServoJ(client, J1_angle): - tcp_command = "servoj(0,%f,%f,0,0,0,t=0.008,aheadtime=20, gain=200)" % (J1_angle,J1_angle/2) + tcp_command = "servop(249,%f,%f,179,0,-90,t=0.008,aheadtime=20, gain=200)" % (J1_angle-134,497+J1_angle/2) tcp_command = tcp_command.encode() client.sendall(tcp_command) # buf = client.recv(200).decode() # 接收反馈信息的长度 # print(buf) def servoj_2(client, J1_angle): - tcp_command = "servoj(%f,0,0,0,0,0,t=2,aheadtime=50, gain=500)" % (J1_angle) + tcp_command = "servop(249,-135,497,179,0,-90,t=2,aheadtime=50, gain=500)" tcp_command = tcp_command.encode() print(tcp_command) client.send(tcp_command) @@ -57,17 +57,17 @@ def enableStatus(client): servoj_2(client, 0) sleep(3) J1 = 0 - bias = 0.04 + bias = 0.2 pl = bias while stop: time_home = time.time() - if J1 > 60 and bias == pl: + if J1 > 50 and bias == pl: bias = -pl elif J1 < -1 and bias == -pl: bias = pl J1 = J1 + bias ServoJ(client, J1) - time.sleep(0.007) + time.sleep(0.008) tie = time.time()-time_home logger.info(f"time: {tie}") print(tie) @@ -90,7 +90,7 @@ def worker(): #子线程接受模式 try: data = client_socket1.recv(1024).decode() if data: - print(data) + #print(data) index_str = data[data.find('{') + 1:data.find('}')] if (index_str == ''): stop = False @@ -107,6 +107,7 @@ try: feed_thread.daemon = True feed_thread.start() enableStatus(client_socket1) + # servoj_2(client_socket1, 0) except KeyboardInterrupt: print("用户中断操作。") print((time.time()-time_h)/60) diff --git a/Massage/MassageControl/tools/Rate.py b/Massage/MassageControl/tools/Rate.py index eeba960..f51c831 100644 --- a/Massage/MassageControl/tools/Rate.py +++ b/Massage/MassageControl/tools/Rate.py @@ -5,6 +5,7 @@ class Rate: def __init__(self, hz): self.interval = 1.0 / hz self.last_time = time.monotonic() + # self.last_time =time.time() self.start_time = self.last_time def sleep(self,print_duration=False): @@ -47,9 +48,11 @@ class Rate: return max(0.0, remaining_time) def cycle_time(self): - now = time.monotonic() - cycle_duration = now - self.start_time - self.start_time = now + # now = time.monotonic() + now = time.time() + # cycle_duration = now - self.start_time + cycle_duration = now - self.last_time + self.last_time = now return cycle_duration def to_sec(self): diff --git a/Massage/MassageControl/tools/__pycache__/Rate.cpython-39.pyc b/Massage/MassageControl/tools/__pycache__/Rate.cpython-39.pyc index 4aa70509b87469b64ae1f956df95eda780df9529..8cd96f73d162c4f7f71da2e9e39190ab28c14a04 100644 GIT binary patch delta 791 zcmZuvO=}cE5S{AX?Wvy4Obo26`4IeyGJymMLC{OUi+WK=Jng|@m~G<7X0!Bc4l5fx z>Lp(K7l@}^1VKFc3&dYAH;>}gi#Mx!$nLs01Fx&Qs$TW0>eJTSR+xri;L*4BaP!5V zPvJg5$EL6X%8sE6!v28o;MC>v!x zopg^)I?Rvy^VbV1H%s28)B*`Sfg%72uNL>xq24-=up@bUV}<#_)T+fv`M2Ap93CZw z&hFc9^1)t{;#~jDMYb+6EHkV!tT9Z}C*3xJ94x1Z2oO*P3YQSEfoPxmU*!TPhW0A% zJmrWPN}kD?DC?wFmypk}^HV4l_dDTVfPju*;8D;8~fG3+8oS!%@u~2VS}Kond8}M RRn4(K)vCIO0u`bZe*wiPmA3!@ delta 851 zcmZuv&ui3B5YD{aWZ$Mu+S;X-)=IIpvTG?QMK496;K7SRd(mD(NFHrufAO+=sB9_p z(q8oPt|Cb3p@#~Bcxl0tH~)fn6I2AR{sGRsV0OEhz?aFJnQy+Cc}JC36)*HW*TU!7 zo4K8%58ft#Rw2xQt9lRvsBiEUxO&g36$+CEM#vgRaMf?7ACpzJC8yH~1YHvKu$_un zUctXDH?0fN4mwFgWa&AF_S#ZJNh$&pGO7IH$Ge8D&}TCw!-*qdy4#Ghv_g-2QLPa_(MMpX`VG@Xp$U9`vjiY}(pmWCg6pHmy^5QZ2|Lb!8Kj5b$82 zP_!G>MG$vo*hyN=VU2F)roQiBYD$R~aB#tamtz}YN339kYB|fbS)vA6$UdgR*@x>B8|S z(O0v4_30RyeM;KNDbq!4RA@*B*y$?hGR-@njjZ8sO7f`DQSf03Us+Rc`QiQzJe3Ow zT`KhB;^61m$*<36-_MWd Date: Sun, 25 May 2025 20:14:23 +0800 Subject: [PATCH 2/3] =?UTF-8?q?=E5=8D=95=E5=91=A8=E6=9C=9F=E5=AF=B9?= =?UTF-8?q?=E5=8F=96=E9=80=86=E8=BF=9B=E8=A1=8C=E7=89=B9=E6=AE=8A=E5=A4=84?= =?UTF-8?q?=E7=90=86=EF=BC=8C=E9=99=8D=E4=BD=8ECPU=E4=BD=BF=E7=94=A8?= =?UTF-8?q?=E7=8E=87?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Massage/MassageControl/MassageRobot_nova5.py | 9 ++++++++- .../MassageControl/algorithms/admittance_controller.py | 4 +++- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/Massage/MassageControl/MassageRobot_nova5.py b/Massage/MassageControl/MassageRobot_nova5.py index 46ddd72..335a8db 100644 --- a/Massage/MassageControl/MassageRobot_nova5.py +++ b/Massage/MassageControl/MassageRobot_nova5.py @@ -128,7 +128,14 @@ class MassageRobot: # 更新步骤 def kalman_update(self,x_predict, P_predict, z, R): # 卡尔曼增益 - K = P_predict @ np.linalg.inv(P_predict + R) + # K = P_predict @ np.linalg.inv(P_predict + R) + S = P_predict + R + s = np.diag(S) # shape (6,) + p_diag = np.diag(P_predict) + K_diag = np.zeros_like(s) + nonzero_mask = s != 0 + K_diag[nonzero_mask] = p_diag[nonzero_mask] / s[nonzero_mask] + K = np.diag(K_diag) # 更新状态 x_update = x_predict + K @ (z - x_predict) # 更新误差协方差 diff --git a/Massage/MassageControl/algorithms/admittance_controller.py b/Massage/MassageControl/algorithms/admittance_controller.py index 6034c33..d88784f 100644 --- a/Massage/MassageControl/algorithms/admittance_controller.py +++ b/Massage/MassageControl/algorithms/admittance_controller.py @@ -33,6 +33,7 @@ class AdmittanceController(BaseController): if damp_rot[i] < 0: damp_rot[i] = 2 * desired_xi * np.sqrt(stiff_rot[i] * mass_rot[i]) self.M = np.diag(np.concatenate([mass_tran, mass_rot])) + self.M_inv = np.linalg.inv(self.M) self.K = np.diag(np.concatenate([stiff_tran, stiff_rot])) self.D = np.diag(np.concatenate([damp_tran, damp_rot])) @@ -59,7 +60,8 @@ class AdmittanceController(BaseController): wrench_err = self.state.external_wrench_tcp - self.state.desired_wrench # if time.time() - self.laset_print_time > 1: # print(f'wrench_err: {wrench_err} ||| external_wrench_tcp: {self.state.external_wrench_tcp} ||| desired_wrench: {self.state.desired_wrench}') - self.state.arm_desired_acc = np.linalg.inv(self.M) @ (wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error) + # self.state.arm_desired_acc = np.linalg.inv(self.M) @ (wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error) + self.state.arm_desired_acc = self.M_inv @ (wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error) # if time.time() - self.laset_print_time > 5: # print("@@@:",wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error) self.clip_command(self.state.arm_desired_acc,"acc") From e1583b1756993361d5dfed343bc6ba1db85b4cc1 Mon Sep 17 00:00:00 2001 From: "Ziwei.He" Date: Mon, 26 May 2025 13:38:58 +0800 Subject: [PATCH 3/3] =?UTF-8?q?=E4=BC=98=E5=8C=96STEP=E7=AE=97=E6=B3=95?= =?UTF-8?q?=EF=BC=8C=E9=99=8D=E4=BD=8ECPU=E4=BD=BF=E7=94=A8=E7=8E=87?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../admittance_controller.cpython-39.pyc | Bin 3299 -> 3315 bytes .../algorithms/admittance_controller.py | 131 +- logs/MassageRobot_nova5_test.log | 1432 ++--------------- 3 files changed, 239 insertions(+), 1324 deletions(-) diff --git a/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc b/Massage/MassageControl/algorithms/__pycache__/admittance_controller.cpython-39.pyc index 0d9540de7a693e8f940e89c74e3fcdcf5c6cdb2a..0a77fb66b4751f5279fb997809cc06d1fa370d7a 100644 GIT binary patch delta 902 zcmYLG&ui2`6rPzRv&kgQrn}p9cWtq@rP?1LYM~wqiq?}zJ$TwnSWIXex4Z2$wwGD= zR0Kgm2Ek+E#j}Xu#dH4y4|^5=0P&_EzL|7u;Jx>~H*dc0z0CLKucqIbm|zILZ$EDC z{G9&i*9_eKG;gfnJBgP~2$Z-v7AW*nBXhu*ums&EIo8$kdDRxqc{PZ9xG^c8n_qE7 zZdhAY+THDSy4xdTw|6wM9)=L)OKTsm%0Jc;4&*#t8+tGV1-l1!_yr>b+9<&p(b33p zgr6e5P-Lz?4UN>ytnvAP2$Inp4Gdi=X>T{sz!XN}2s0=cS%e~TLN*X|yEz&&R1#RJ zh6a|f5-&0$^A(oA>7^kBnzE(}w4ZFC01Xs*Mdu7M8&FkHQEDIof`w366DXU~J+;Wn z3D)u^N(!Eu0JU{QPzd>1Ul38%m)5fjqF5pr7SlG7YCqc`h)9G^NKsRNec)&cCo1Xd zX4VkSxF^S16aEPkL~qLUlCE%7RSg%ml!vieX+61^P3wVMIi69YwM0ohLPG4d|4hjbBteBcu}3dbFNwZszRsE z%+TXLz!8bkw%6f%VW01Y2hTcb+Z|_nkd)JSZ$JF6)b@BkRiZ^NJLYlk$&M4VMi zDDJjP5Y>e?i{ftDDX?GQbCDnzt0>K|7az+6Cc|oz;(ba6|oN% zkOr6usPdPZp6bJ%e9KEv>cGKJeLsAO#mb7E;iKs~`-)iEU!jl$)U~azj>K zxX{i012e7#5pgBr&k(Y8-;IC3bMK@T>cBmZ@0{osiyZf8!aWiB_kxl41%fs?p|NP*hixj@T_k2PO>(0{;`*fE}o&qg2C#e%se zo|>B@2jvYs5Ah7nfDlf)q>FlJX+(xpMOvmSZ{(1`8^X4V%v0U5k(!xxUeD~DbRABE zLdi`?LQm;7`M*aZ%Y}Rnk`|DmhM>o_9J-}MOZ4|J)VVHvYhh%hQ{5n&#{LSfYoMP| z+)&xs2-%UmvZ``dX2l3`jgu@=Xe}{v3dLYG4q*|6HRWSen)HQ85|4pg(G#G~Hv?K6te!>rFRl@24$AZI+9;&pL|cwOB8nBy2`bp-d<*)d%Ul z_Td_agLO2723i$-ST 5: - # print(f'temp_pose_error: {temp_pose_error} ||| arm_position: {self.state.arm_position} ||| desired_position: {self.state.desired_position}') + # 方向统一 if self.state.desired_orientation.dot(self.state.arm_orientation) < 0: self.state.arm_orientation = -self.state.arm_orientation - self.state.pose_error[:3] = R.from_quat(self.state.arm_orientation).as_matrix().T @ temp_pose_error - # if time.time() - self.laset_print_time > 5: - # print("pose_error:",self.state.pose_error[:3]) - # 计算误差 位置直接作差，姿态误差以旋转向量表示 - #rot_err_mat = R.from_quat(self.state.arm_orientation).as_matrix() @ R.from_quat(self.state.desired_orientation).as_matrix().T - rot_err_mat = R.from_quat(self.state.arm_orientation).as_matrix().T @ R.from_quat(self.state.desired_orientation).as_matrix() - # print(f'rot_err_mat: {rot_err_mat} ||| arm_orientation: {R.from_quat(self.state.arm_orientation).as_euler('xyz',False)} ||| desired_orientation: {R.from_quat(self.state.desired_orientation).as_euler('xyz',False)}') - rot_err_rotvex = R.from_matrix(rot_err_mat).as_rotvec(degrees=False) - self.state.pose_error[3:] = -rot_err_rotvex - - #wrench_err = self.state.external_wrench_base - self.state.desired_wrench + # 缓存常用计算 + arm_ori_quat = R.from_quat(self.state.arm_orientation) + arm_ori_mat = arm_ori_quat.as_matrix() + # 位置误差 + temp_pose_error = self.state.arm_position - self.state.desired_position + self.state.pose_error[:3] = arm_ori_mat.T @ temp_pose_error + # 姿态误差(四元数) + rot_err_quat = arm_ori_quat.inv() * R.from_quat(self.state.desired_orientation) + self.state.pose_error[3:] = -rot_err_quat.as_rotvec(degrees=False) + # 期望加速度 wrench_err = self.state.external_wrench_tcp - self.state.desired_wrench - # if time.time() - self.laset_print_time > 1: - # print(f'wrench_err: {wrench_err} ||| external_wrench_tcp: {self.state.external_wrench_tcp} ||| desired_wrench: {self.state.desired_wrench}') - # self.state.arm_desired_acc = np.linalg.inv(self.M) @ (wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error) - self.state.arm_desired_acc = self.M_inv @ (wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error) - # if time.time() - self.laset_print_time > 5: - # print("@@@:",wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error) - self.clip_command(self.state.arm_desired_acc,"acc") - self.state.arm_desired_twist = self.state.arm_desired_acc * dt + self.state.arm_desired_twist - self.clip_command(self.state.arm_desired_twist,"vel") - delta_pose = self.state.arm_desired_twist * dt - - # delta_pose[:3] = self.pos_scale_factor * delta_pose[:3] - # delta_pose[3:] = self.rot_scale_factor * delta_pose[3:] - # if time.time() - self.laset_print_time > 5: - # print("delta_pose:",delta_pose) - - delta_pose[:3] = R.from_quat(self.state.arm_orientation).as_matrix() @ delta_pose[:3] - - # if time.time() - self.laset_print_time > 5: - # print("tf_delta_pose:",delta_pose) - self.clip_command(delta_pose,"pose") - - # testlsy - delta_ori_mat = R.from_rotvec(delta_pose[3:]).as_matrix() - - # random_array = np.random.rand(3) # 生成长度为 3 的数组 - # delta_ori_mat = R.from_rotvec(random_array/100000).as_matrix() - - arm_ori_mat = delta_ori_mat @ R.from_quat(self.state.arm_orientation).as_matrix() - arm_ori_mat = R.from_quat(self.state.arm_orientation).as_matrix() @ delta_ori_mat - self.state.arm_orientation_command = R.from_matrix(arm_ori_mat).as_quat() + KD_vel = self.D @ (self.state.arm_desired_twist - self.state.desired_twist) + KD_pose = self.K @ self.state.pose_error + self.state.arm_desired_acc = self.M_inv @ (wrench_err - KD_vel - KD_pose) + self.clip_command(self.state.arm_desired_acc, "acc") + ## 更新速度和位姿 + self.state.arm_desired_twist += self.state.arm_desired_acc * dt + self.clip_command(self.state.arm_desired_twist, "vel") + # 计算位姿变化 + delta_pose = np.concatenate([ + arm_ori_mat @ (self.state.arm_desired_twist[:3] * dt), + self.state.arm_desired_twist[3:] * dt + ]) + self.clip_command(delta_pose, "pose") + # 更新四元数 + delta_ori_quat = R.from_rotvec(delta_pose[3:]).as_quat() + arm_ori_quat_new = arm_ori_quat * R.from_quat(delta_ori_quat) + self.state.arm_orientation_command = arm_ori_quat_new.as_quat() # 归一化四元数 self.state.arm_orientation_command /= np.linalg.norm(self.state.arm_orientation_command) - + # 更新位置 self.state.arm_position_command = self.state.arm_position + delta_pose[:3] - # if time.time() - self.laset_print_time > 2: - # print("-------------admittance_1-------------------------------") - # print("arm_position:",self.state.arm_position) - # print("desired_position:",self.state.desired_position) - # print(f'wrench_err: {wrench_err} ||| external_wrench_tcp: {self.state.external_wrench_tcp} ||| desired_wrench: {self.state.desired_wrench}') - # print("self.state.arm_desired_acc:",self.state.arm_desired_acc) - # print("arm_orientation",R.from_quat(self.state.arm_orientation).as_euler('xyz',degrees=True)) - # print("desired_orientation",R.from_quat(self.state.desired_orientation).as_euler('xyz',degrees=True)) - # print("arm_position_command",self.state.arm_position_command) - # print("arm_orientation_command",R.from_quat(self.state.arm_orientation_command).as_euler('xyz',degrees=True)) - # print("delta_pose:",delta_pose) - # print("delta_ori_mat",delta_ori_mat) - # self.laset_print_time = time.time() + + + # # 计算误差 位置直接作差，姿态误差以旋转向量表示 + # temp_pose_error = self.state.arm_position - self.state.desired_position + # if self.state.desired_orientation.dot(self.state.arm_orientation) < 0: + # self.state.arm_orientation = -self.state.arm_orientation + # self.state.pose_error[:3] = R.from_quat(self.state.arm_orientation).as_matrix().T @ temp_pose_error + # rot_err_mat = R.from_quat(self.state.arm_orientation).as_matrix().T @ R.from_quat(self.state.desired_orientation).as_matrix() + # rot_err_rotvex = R.from_matrix(rot_err_mat).as_rotvec(degrees=False) + # self.state.pose_error[3:] = -rot_err_rotvex + # wrench_err = self.state.external_wrench_tcp - self.state.desired_wrench + # self.state.arm_desired_acc = self.M_inv @ (wrench_err - self.D @ (self.state.arm_desired_twist -self.state.desired_twist) - self.K @ self.state.pose_error) + # self.clip_command(self.state.arm_desired_acc,"acc") + # self.state.arm_desired_twist = self.state.arm_desired_acc * dt + self.state.arm_desired_twist + # self.clip_command(self.state.arm_desired_twist,"vel") + # delta_pose = self.state.arm_desired_twist * dt + # delta_pose[:3] = R.from_quat(self.state.arm_orientation).as_matrix() @ delta_pose[:3] + # self.clip_command(delta_pose,"pose") + # # testlsy + # delta_ori_mat = R.from_rotvec(delta_pose[3:]).as_matrix() + # ## 关闭姿态转动 + # # random_array = np.random.rand(3) # 生成长度为 3 的数组 + # # delta_ori_mat = R.from_rotvec(random_array/100000).as_matrix() + # arm_ori_mat = delta_ori_mat @ R.from_quat(self.state.arm_orientation).as_matrix() + # arm_ori_mat = R.from_quat(self.state.arm_orientation).as_matrix() @ delta_ori_mat + # self.state.arm_orientation_command = R.from_matrix(arm_ori_mat).as_quat() + # # 归一化四元数 + # self.state.arm_orientation_command /= np.linalg.norm(self.state.arm_orientation_command) + # self.state.arm_position_command = self.state.arm_position + delta_pose[:3] + # # if time.time() - self.laset_print_time > 2: + # # print("-------------admittance_1-------------------------------") + # # print("arm_position:",self.state.arm_position) + # # print("desired_position:",self.state.desired_position) + # # print(f'wrench_err: {wrench_err} ||| external_wrench_tcp: {self.state.external_wrench_tcp} ||| desired_wrench: {self.state.desired_wrench}') + # # print("self.state.arm_desired_acc:",self.state.arm_desired_acc) + # # print("arm_orientation",R.from_quat(self.state.arm_orientation).as_euler('xyz',degrees=True)) + # # print("desired_orientation",R.from_quat(self.state.desired_orientation).as_euler('xyz',degrees=True)) + # # print("arm_position_command",self.state.arm_position_command) + # # print("arm_orientation_command",R.from_quat(self.state.arm_orientation_command).as_euler('xyz',degrees=True)) + # # print("delta_pose:",delta_pose) + # # print("delta_ori_mat",delta_ori_mat) + # # self.laset_print_time = time.time() diff --git a/logs/MassageRobot_nova5_test.log b/logs/MassageRobot_nova5_test.log index e634b6b..4433e74 100644 --- a/logs/MassageRobot_nova5_test.log +++ b/logs/MassageRobot_nova5_test.log @@ -1,1264 +1,168 @@ -2025-05-21 15:38:51,180 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 -2025-05-21 15:38:54,693 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 -2025-05-21 15:38:54,693 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999995 -0.13500023 0.34428417] -2025-05-21 15:38:54,695 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999531e+02 -4.50117128e-04 -9.00005367e+01] -2025-05-21 15:38:54,698 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13500023 0.34433902] -2025-05-21 15:38:54,699 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.79370603e-07 -1.57080019e+00] -2025-05-21 15:38:54,701 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999992 -0.13500023 0.34423885] -2025-05-21 15:38:54,702 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999598e+02 -3.85562286e-04 -9.00006915e+01] -2025-05-21 15:38:54,706 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999966 -0.13500023 0.34433899] -2025-05-21 15:38:54,708 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -9.58739618e-07 -1.57079966e+00] -2025-05-21 15:38:54,724 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999972 -0.13500023 0.34420165] -2025-05-21 15:38:54,726 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999989e+02 -4.02003154e-04 -9.00003638e+01] -2025-05-21 15:38:54,728 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.13500023 0.34433902] -2025-05-21 15:38:54,729 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -9.58737967e-07 -1.57080019e+00] -2025-05-21 15:38:54,741 - 测试日志 - INFO - log.py:106 - position command: [ 0.2500003 -0.13500001 0.3441722 ] -2025-05-21 15:38:54,745 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999488e+02 -4.31166036e-04 -9.00006636e+01] -2025-05-21 15:38:54,747 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.13500023 0.34433908] -2025-05-21 15:38:54,749 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -4.79367142e-07 -1.57080059e+00] -2025-05-21 15:38:54,776 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000029 -0.13500002 0.3441475 ] -2025-05-21 15:38:54,780 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999475e+02 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[-1.79999932e+02 -4.93468283e-03 -8.99999740e+01] -2025-05-21 15:50:09,465 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.13502553 0.34433926] -2025-05-21 15:50:09,467 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.04981813e-04 -1.57079819e+00] -2025-05-21 15:50:09,473 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999973 -0.13504338 0.34401465] -2025-05-21 15:50:09,476 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999913e+02 -4.82967506e-03 -8.99999724e+01] -2025-05-21 15:50:09,480 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13502507 0.34433936] -2025-05-21 15:50:09,485 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.03064334e-04 -1.57079819e+00] -2025-05-21 15:50:09,491 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999991 -0.13504309 0.34401547] -2025-05-21 15:50:09,493 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999764e+02 -4.62548294e-03 -8.99999883e+01] -2025-05-21 15:50:09,495 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999986 -0.13502483 0.34433932] -2025-05-21 15:50:09,499 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -1.03064334e-04 -1.57079726e+00] -2025-05-21 15:50:09,511 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999978 -0.1350398 0.34400821] -2025-05-21 15:50:09,512 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999723e+02 -4.65566711e-03 -8.99999140e+01] -2025-05-21 15:50:09,515 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000031 -0.13502483 0.34433975] -2025-05-21 15:50:09,516 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 -1.03064334e-04 -1.57079686e+00] -2025-05-21 15:50:09,532 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 -2025-05-21 15:50:09,536 - 测试日志 - INFO - log.py:106 - MassageRobot启动 -2025-05-21 15:52:11,088 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 -2025-05-21 15:52:14,599 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 -2025-05-21 15:52:14,600 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000029 -0.13500012 0.34428453] -2025-05-21 15:52:14,601 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999924e+02 -2.74657814e-05 -9.00000305e+01] -2025-05-21 15:52:14,604 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.13500024 0.34433942] -2025-05-21 15:52:14,607 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132 0. -1.57079726] -2025-05-21 15:52:14,609 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999985 -0.13499021 0.34423925] -2025-05-21 15:52:14,611 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999866e+02 -8.85188747e-04 -9.00000533e+01] -2025-05-21 15:52:14,646 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000021 -0.135 0.34433917] -2025-05-21 15:52:14,648 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 4.79368983e-07 -1.57079726e+00] -2025-05-21 15:52:14,649 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000023 -0.13498127 0.34420213] -2025-05-21 15:52:14,650 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999924e+02 -1.59435965e-03 -9.00000216e+01] -2025-05-21 15:52:14,658 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13499988 0.34433951] -2025-05-21 15:52:14,659 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212 0. -1.57079579] -2025-05-21 15:52:14,676 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999986 -0.13497668 0.34416922] -2025-05-21 15:52:14,677 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999956e+02 -2.02014988e-03 -8.99999302e+01] -2025-05-21 15:52:14,678 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.135 0.34433936] -2025-05-21 15:52:14,680 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212 0. -1.57079633] -2025-05-21 15:52:14,703 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999988 -0.13497304 0.34414254] -2025-05-21 15:52:14,705 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999820e+02 -2.34605182e-03 -8.99999850e+01] -2025-05-21 15:52:14,705 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.135 0.34433942] -2025-05-21 15:52:14,706 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -4.79368761e-07 -1.57079633e+00] -2025-05-21 15:52:14,724 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999999 -0.13496894 0.3441179 ] -2025-05-21 15:52:14,725 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999901e+02 -2.70437887e-03 -8.99999534e+01] -2025-05-21 15:52:14,726 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.135 0.3443392 ] -2025-05-21 15:52:14,727 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079633] -2025-05-21 15:52:14,745 - 测试日志 - INFO - log.py:106 - position command: [ 0.25 -0.1349652 0.34409918] -2025-05-21 15:52:14,747 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999890e+02 -3.06381531e-03 -8.99998839e+01] -2025-05-21 15:52:14,748 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.135 0.34433908] -2025-05-21 15:52:14,752 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212 0. -1.57079633] -2025-05-21 15:52:14,764 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999976 -0.13496122 0.34408316] -2025-05-21 15:52:14,766 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999966e+02 -3.33631727e-03 -8.99999365e+01] -2025-05-21 15:52:14,768 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000014 -0.13499977 0.34433948] -2025-05-21 15:52:14,772 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 4.79368063e-07 -1.57079539e+00] -2025-05-21 15:52:14,778 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999977 -0.13495783 0.34407153] -2025-05-21 15:52:14,782 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999944e+02 -3.63110267e-03 -8.99999223e+01] -2025-05-21 15:52:14,783 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000009 -0.13499976 0.34433942] -2025-05-21 15:52:14,784 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 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position command: [ 0.25000035 -0.13495003 0.3440521 ] -2025-05-21 15:52:14,851 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999797e+02 -4.28438253e-03 -8.99998165e+01] -2025-05-21 15:52:14,854 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13500012 0.34433969] -2025-05-21 15:52:14,855 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -4.79369682e-07 -1.57079579e+00] -2025-05-21 15:52:14,859 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000016 -0.13494858 0.34404555] -2025-05-21 15:52:14,861 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999788e+02 -4.47874624e-03 -8.99998794e+01] -2025-05-21 15:52:14,863 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13499977 0.34433917] -2025-05-21 15:52:14,864 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 4.79368984e-07 -1.57079579e+00] -2025-05-21 15:52:14,877 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999982 -0.13494694 0.34404033] -2025-05-21 15:52:14,880 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999857e+02 -4.59517459e-03 -8.99999199e+01] -2025-05-21 15:52:14,882 - 测试日志 - INFO - log.py:106 - position current:[ 0.2500002 -0.13500035 0.3443392 ] -2025-05-21 15:52:14,884 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.79369237e-07 -1.57079779e+00] -2025-05-21 15:52:14,896 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999977 -0.13494535 0.34403608] -2025-05-21 15:52:14,900 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999982e+02 -4.68552200e-03 -8.99998748e+01] -2025-05-21 15:52:14,902 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.13499988 0.34433972] -2025-05-21 15:52:14,905 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 4.59632332e-13 -1.57079633e+00] -2025-05-21 15:52:14,915 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000007 -0.13494476 0.34403548] -2025-05-21 15:52:14,917 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999748e+02 -4.81460245e-03 -8.99999671e+01] -2025-05-21 15:52:14,920 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999997 -0.13499963 0.34433902] -2025-05-21 15:52:14,935 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079486] -2025-05-21 15:52:14,942 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000002 -0.1349434 0.34403345] -2025-05-21 15:52:14,948 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999864e+02 -4.90160527e-03 -8.99998611e+01] -2025-05-21 15:52:14,951 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.135 0.34433957] -2025-05-21 15:52:14,953 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 4.59632332e-13 -1.57079686e+00] -2025-05-21 15:52:14,959 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999988 -0.13494314 0.34403296] -2025-05-21 15:52:14,965 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999876e+02 -4.94822462e-03 -9.00000059e+01] -2025-05-21 15:52:14,968 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13499977 0.34433914] -2025-05-21 15:52:14,972 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 4.79368983e-07 -1.57079579e+00] -2025-05-21 15:52:14,977 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000007 -0.13494216 0.34403297] -2025-05-21 15:52:14,982 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999892e+02 -5.01241089e-03 -8.99999294e+01] -2025-05-21 15:52:14,983 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999969 -0.135 0.34433826] -2025-05-21 15:52:14,986 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159026 0. -1.57079633] -2025-05-21 15:52:14,997 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999989 -0.13494188 0.34403309] -2025-05-21 15:52:14,999 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999874e+02 -5.06492697e-03 -8.99999660e+01] -2025-05-21 15:52:15,001 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.13500012 0.34433902] -2025-05-21 15:52:15,003 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -4.79368984e-07 -1.57079633e+00] -2025-05-21 15:52:15,012 - 测试日志 - INFO - log.py:106 - MassageRobot启动 -2025-05-21 15:52:15,018 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 -2025-05-21 15:53:09,492 - 测试日志 - ERROR - log.py:106 - 传感器数据读取失败 -2025-05-21 15:53:09,495 - 测试日志 - ERROR - log.py:106 - 传感器线程数据读取失败-1 -2025-05-21 15:58:44,141 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 -2025-05-21 15:58:47,653 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999988 -0.13500023 0.34428386] -2025-05-21 15:58:47,655 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999848e+02 -5.77903395e-04 -9.00005484e+01] -2025-05-21 15:58:47,661 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 -2025-05-21 15:58:47,664 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500012 0.34433914] -2025-05-21 15:58:47,665 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -4.79368983e-07 -1.57079633e+00] -2025-05-21 15:58:47,668 - 测试日志 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INFO - log.py:106 - orientation current: [-3.14159026e+00 3.44679840e-12 -1.57079819e+00] -2025-05-21 16:05:48,738 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000741 -0.13500016 0.34406274] -2025-05-21 16:05:48,746 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999444e+02 3.39259212e-05 -9.00000605e+01] -2025-05-21 16:05:48,749 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999974 -0.13500023 0.34433829] -2025-05-21 16:05:48,750 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159079e+00 -4.79369904e-07 -1.57079726e+00] -2025-05-21 16:05:48,753 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000641 -0.13500027 0.34405918] -2025-05-21 16:05:48,759 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999530e+02 8.35033640e-07 -9.00000646e+01] -2025-05-21 16:05:48,763 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13500012 0.34433902] -2025-05-21 16:05:48,766 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -4.79368984e-07 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- position command: [ 0.25000396 -0.13500018 0.34406024] -2025-05-21 16:05:48,817 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999613e+02 -7.12208265e-06 -9.00000564e+01] -2025-05-21 16:05:48,821 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000027 -0.135 0.34433932] -2025-05-21 16:05:48,832 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265 0. -1.57079726] -2025-05-21 16:05:48,833 - 测试日志 - INFO - log.py:106 - MassageRobot启动 -2025-05-21 16:05:48,835 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 -2025-05-21 16:06:14,414 - 测试日志 - ERROR - log.py:106 - 传感器数据读取失败 -2025-05-21 16:06:14,416 - 测试日志 - ERROR - log.py:106 - 传感器线程数据读取失败-1 -2025-05-21 16:07:20,684 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 -2025-05-21 16:07:24,200 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999974 -0.13500035 0.34428417] -2025-05-21 16:07:24,201 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 -2025-05-21 16:07:24,205 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 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0.34433887] -2025-05-21 16:07:24,307 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -9.58738221e-07 -1.57079539e+00] -2025-05-21 16:07:24,313 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000039 -0.13500035 0.34412754] -2025-05-21 16:07:24,316 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999893e+02 -5.55823507e-05 -9.00000230e+01] -2025-05-21 16:07:24,324 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999988 -0.13500047 0.34433929] -2025-05-21 16:07:24,327 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -1.43810701e-06 -1.57079686e+00] -2025-05-21 16:07:24,332 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000037 -0.13500035 0.34411101] -2025-05-21 16:07:24,336 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999893e+02 -5.36656777e-05 -9.00000208e+01] -2025-05-21 16:07:24,339 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13500046 0.34433868] -2025-05-21 16:07:24,343 - 测试日志 - INFO - log.py:106 - 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log.py:106 - position command: [ 0.24999988 -0.13500047 0.34406341] -2025-05-21 16:07:24,432 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999970e+02 -5.89037531e-05 -9.00000481e+01] -2025-05-21 16:07:24,435 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000011 -0.13500011 0.34433987] -2025-05-21 16:07:24,439 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14158972e+00 -1.43810701e-06 -1.57079539e+00] -2025-05-21 16:07:24,448 - 测试日志 - INFO - log.py:106 - position command: [ 0.25 -0.13500035 0.34405819] -2025-05-21 16:07:24,449 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999999e+02 -3.33632770e-05 -9.00000589e+01] -2025-05-21 16:07:24,451 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13500035 0.34433902] -2025-05-21 16:07:24,460 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -1.43810676e-06 -1.57079579e+00] -2025-05-21 16:07:24,474 - 测试日志 - INFO - log.py:106 - position command: [ 0.25 -0.13500035 0.34405414] -2025-05-21 16:07:24,480 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999999e+02 -3.52775943e-05 -9.00000745e+01] -2025-05-21 16:07:24,483 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999974 -0.13500023 0.34433942] -2025-05-21 16:07:24,485 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -1.43810651e-06 -1.57079633e+00] -2025-05-21 16:07:24,490 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999979 -0.13500035 0.34405101] -2025-05-21 16:07:24,497 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999970e+02 -6.45265723e-05 -9.00000519e+01] -2025-05-21 16:07:24,498 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.13500035 0.34433951] -2025-05-21 16:07:24,500 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.43810727e-06 -1.57079579e+00] -2025-05-21 16:07:24,506 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000016 -0.13500012 0.34404788] -2025-05-21 16:07:24,511 - 测试日志 - INFO - log.py:106 - orientation command: [ 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16:07:24,567 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999985 -0.13500047 0.34433841] -2025-05-21 16:07:24,571 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159079e+00 -9.58736126e-07 -1.57079633e+00] -2025-05-21 16:07:24,574 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999985 -0.13500035 0.34404277] -2025-05-21 16:07:24,579 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999971e+02 -5.27608864e-05 -9.00000311e+01] -2025-05-21 16:07:24,581 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999968 -0.13500047 0.3443396 ] -2025-05-21 16:07:24,583 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 -1.43810790e-06 -1.57079633e+00] -2025-05-21 16:07:24,594 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999974 -0.13500024 0.34404155] -2025-05-21 16:07:24,599 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999971e+02 3.76935964e-05 -9.00001761e+01] -2025-05-21 16:07:24,601 - 测试日志 - INFO - log.py:106 - position current:[ 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log.py:106 - orientation command: [-1.79999984e+02 2.36819827e-04 -9.00026877e+01] -2025-05-21 16:12:16,869 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000003 -0.13500047 0.34433878] -2025-05-21 16:12:16,878 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 -1.43810905e-06 -1.57079819e+00] -2025-05-21 16:12:16,884 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 -2025-05-21 16:12:16,884 - 测试日志 - INFO - log.py:106 - MassageRobot启动 -2025-05-21 16:14:20,742 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 -2025-05-21 16:14:24,256 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999977 -0.1350006 0.34428417] -2025-05-21 16:14:24,257 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999969e+02 -8.23974478e-05 -9.00000839e+01] -2025-05-21 16:14:24,265 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 -2025-05-21 16:14:24,265 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000006 -0.13500058 0.34433951] -2025-05-21 16:14:24,268 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -1.91747593e-06 -1.57079686e+00] -2025-05-21 16:14:24,269 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999999 -0.13500058 0.34424903] -2025-05-21 16:14:24,270 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999973e+02 -1.08891452e-04 -9.00000028e+01] -2025-05-21 16:14:24,271 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13500058 0.34433917] -2025-05-21 16:14:24,272 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.91747619e-06 -1.57079633e+00] -2025-05-21 16:14:24,288 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000016 -0.13500036 0.34421537] -2025-05-21 16:14:24,289 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999953e+02 -8.15226491e-05 -9.00000567e+01] -2025-05-21 16:14:24,290 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.13500035 0.34433923] -2025-05-21 16:14:24,292 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 -1.43810613e-06 -1.57079726e+00] -2025-05-21 16:14:24,309 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999981 -0.13500037 0.34418561] -2025-05-21 16:14:24,310 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999822e+02 -8.16056663e-05 -9.00000571e+01] -2025-05-21 16:14:24,311 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000023 -0.13500058 0.34433963] -2025-05-21 16:14:24,312 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -1.91747466e-06 -1.57079779e+00] -2025-05-21 16:14:24,329 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999986 -0.13500049 0.34416072] -2025-05-21 16:14:24,330 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999818e+02 -8.16753958e-05 -9.00000574e+01] -2025-05-21 16:14:24,332 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999988 -0.13500047 0.34433914] -2025-05-21 16:14:24,336 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -1.43810701e-06 -1.57079726e+00] -2025-05-21 16:14:24,345 - 测试日志 - INFO - log.py:106 - position command: [ 0.2500001 -0.13500026 0.34413976] -2025-05-21 16:14:24,346 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999819e+02 -8.17336472e-05 -8.99999766e+01] -2025-05-21 16:14:24,347 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13500023 0.34433936] -2025-05-21 16:14:24,347 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.43810701e-06 -1.57079579e+00] -2025-05-21 16:14:24,363 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000033 -0.13500038 0.3441226 ] -2025-05-21 16:14:24,363 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999899e+02 -8.17815728e-05 -9.00000086e+01] -2025-05-21 16:14:24,364 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000037 -0.13500035 0.34433997] -2025-05-21 16:14:24,367 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159026e+00 -1.43810701e-06 -1.57079633e+00] -2025-05-21 16:14:24,382 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999973 -0.13500062 0.34410712] -2025-05-21 16:14:24,383 - 测试日志 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INFO - log.py:106 - position current:[ 0.24999971 -0.13500047 0.3443392 ] -2025-05-21 16:14:24,481 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -1.43810701e-06 -1.57079726e+00] -2025-05-21 16:14:24,486 - 测试日志 - INFO - log.py:106 - position command: [ 0.2500003 -0.13500534 0.3440657 ] -2025-05-21 16:14:24,487 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999762e+02 3.57333512e-04 -9.00000106e+01] -2025-05-21 16:14:24,489 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13500035 0.34433932] -2025-05-21 16:14:24,495 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -9.58737967e-07 -1.57079686e+00] -2025-05-21 16:14:24,503 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999988 -0.13500529 0.34406178] -2025-05-21 16:14:24,510 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999652e+02 4.03831853e-04 -9.00000685e+01] -2025-05-21 16:14:24,513 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.13500035 0.3443399 ] -2025-05-21 16:14:24,516 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 -1.43810511e-06 -1.57079726e+00] -2025-05-21 16:14:24,525 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000024 -0.13500502 0.34405848] -2025-05-21 16:14:24,527 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999707e+02 3.22922898e-04 -9.00000528e+01] -2025-05-21 16:14:24,528 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13500035 0.34433868] -2025-05-21 16:14:24,533 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 -1.43810765e-06 -1.57079686e+00] -2025-05-21 16:14:24,544 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999997 -0.13500451 0.34405538] -2025-05-21 16:14:24,547 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999732e+02 3.39524808e-04 -9.00000893e+01] -2025-05-21 16:14:24,551 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.13500046 0.34433942] -2025-05-21 16:14:24,553 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -1.91747593e-06 -1.57079633e+00] -2025-05-21 16:14:24,561 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999991 -0.13500429 0.34405252] -2025-05-21 16:14:24,564 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999743e+02 2.43925101e-04 -9.00000610e+01] -2025-05-21 16:14:24,567 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000026 -0.13500047 0.3443389 ] -2025-05-21 16:14:24,570 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -1.43810727e-06 -1.57079726e+00] -2025-05-21 16:14:24,582 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000021 -0.13500683 0.34404955] -2025-05-21 16:14:24,584 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999635e+02 4.91883119e-04 -9.00001117e+01] -2025-05-21 16:14:24,585 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000021 -0.13500047 0.34433917] -2025-05-21 16:14:24,586 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -1.43810701e-06 -1.57079779e+00] -2025-05-21 16:14:24,600 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000016 -0.13500803 0.34404769] -2025-05-21 16:14:24,602 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999665e+02 5.95358487e-04 -9.00001370e+01] -2025-05-21 16:14:24,604 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000011 -0.13500035 0.34433923] -2025-05-21 16:14:24,606 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 -1.43810701e-06 -1.57079779e+00] -2025-05-21 16:14:24,619 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000005 -0.13500826 0.3440459 ] -2025-05-21 16:14:24,621 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999663e+02 6.23875725e-04 -9.00001313e+01] -2025-05-21 16:14:24,623 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13500023 0.34433951] -2025-05-21 16:14:24,627 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 -9.58736634e-07 -1.57079726e+00] -2025-05-21 16:14:24,637 - 测试日志 - INFO - log.py:106 - MassageRobot启动 -2025-05-21 16:14:24,638 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 -2025-05-21 16:15:37,544 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 -2025-05-21 16:15:41,053 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 -2025-05-21 16:15:41,053 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000002 -0.13499954 0.34428405] -2025-05-21 16:15:41,055 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999939e+02 1.09863358e-04 -9.00000839e+01] -2025-05-21 16:15:41,056 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000029 -0.13499965 0.34433963] -2025-05-21 16:15:41,057 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159132e+00 1.43810765e-06 -1.57079686e+00] -2025-05-21 16:15:41,062 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000028 -0.13500967 0.34423944] -2025-05-21 16:15:41,063 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999924e+02 1.96828231e-03 -9.00000323e+01] -2025-05-21 16:15:41,065 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999953 -0.13499977 0.34433847] -2025-05-21 16:15:41,066 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159132e+00 1.43810701e-06 -1.57079686e+00] -2025-05-21 16:15:41,078 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000005 -0.13501849 0.3442026 ] -2025-05-21 16:15:41,079 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999861e+02 3.54160759e-03 -9.00000337e+01] -2025-05-21 16:15:41,080 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999968 -0.13499953 0.34433908] -2025-05-21 16:15:41,081 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 1.43810701e-06 -1.57079726e+00] -2025-05-21 16:15:41,096 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999585 -0.13502579 0.34417606] -2025-05-21 16:15:41,098 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999206e+02 4.81360641e-03 -9.00000349e+01] -2025-05-21 16:15:41,101 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13499977 0.34433917] -2025-05-21 16:15:41,104 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 9.58737777e-07 -1.57079686e+00] -2025-05-21 16:15:41,114 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999399 -0.13502819 0.34415393] -2025-05-21 16:15:41,115 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998686e+02 5.25549357e-03 -8.99999768e+01] -2025-05-21 16:15:41,117 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999971 -0.13499977 0.34433902] -2025-05-21 16:15:41,125 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 1.43810701e-06 -1.57079779e+00] -2025-05-21 16:15:41,137 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999313 -0.13502822 0.34413444] -2025-05-21 16:15:41,143 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998493e+02 5.22933991e-03 -9.00001120e+01] -2025-05-21 16:15:41,149 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000002 -0.13499977 0.34433929] -2025-05-21 16:15:41,152 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 4.79368983e-07 -1.57079686e+00] -2025-05-21 16:15:41,161 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499879 -0.13502567 0.34411738] -2025-05-21 16:15:41,163 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997652e+02 4.79925742e-03 -9.00000365e+01] -2025-05-21 16:15:41,168 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000018 -0.135 0.34433942] -2025-05-21 16:15:41,172 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 1.37845291e-12 -1.57079779e+00] -2025-05-21 16:15:41,177 - 测试日志 - INFO - log.py:106 - position command: [ 0.24998393 -0.13502382 0.34410377] -2025-05-21 16:15:41,181 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996854e+02 4.44328606e-03 -9.00000888e+01] -2025-05-21 16:15:41,183 - 测试日志 - INFO - log.py:106 - position current:[ 0.25 -0.13499988 0.34433884] -2025-05-21 16:15:41,189 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 4.79368317e-07 -1.57079779e+00] -2025-05-21 16:15:41,198 - 测试日志 - INFO - log.py:106 - position command: [ 0.24998335 -0.13502075 0.34409149] -2025-05-21 16:15:41,205 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996889e+02 3.98285176e-03 -9.00000879e+01] -2025-05-21 16:15:41,208 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13499989 0.34433917] -2025-05-21 16:15:41,212 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 9.58737777e-07 -1.57079726e+00] -2025-05-21 16:15:41,223 - 测试日志 - INFO - log.py:106 - position command: [ 0.24998388 -0.13501774 0.34408206] -2025-05-21 16:15:41,225 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996980e+02 3.58493255e-03 -9.00000872e+01] -2025-05-21 16:15:41,227 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000021 -0.13499953 0.34433963] -2025-05-21 16:15:41,228 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 9.58739808e-07 -1.57079633e+00] -2025-05-21 16:15:41,236 - 测试日志 - INFO - log.py:106 - position command: [ 0.24998463 -0.13501534 0.34407457] -2025-05-21 16:15:41,241 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79996976e+02 3.18786051e-03 -9.00000054e+01] -2025-05-21 16:15:41,245 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999977 -0.13499965 0.34433887] -2025-05-21 16:15:41,247 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159159e+00 9.58737522e-07 -1.57079633e+00] -2025-05-21 16:15:41,258 - 测试日志 - INFO - log.py:106 - position command: [ 0.24998601 -0.13501312 0.3440676 ] -2025-05-21 16:15:41,259 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997343e+02 2.82190161e-03 -8.99999997e+01] -2025-05-21 16:15:41,261 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000008 -0.13499965 0.34433948] -2025-05-21 16:15:41,262 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159159e+00 9.58738920e-07 -1.57079686e+00] -2025-05-21 16:15:41,275 - 测试日志 - INFO - log.py:106 - position command: [ 0.24998705 -0.13501118 0.34406084] -2025-05-21 16:15:41,277 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997779e+02 2.46017338e-03 -8.99999969e+01] -2025-05-21 16:15:41,279 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000024 -0.13499977 0.34433975] -2025-05-21 16:15:41,281 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 9.58740761e-07 -1.57079779e+00] -2025-05-21 16:15:41,294 - 测试日志 - INFO - log.py:106 - position command: [ 0.24998926 -0.13500915 0.34406031] -2025-05-21 16:15:41,296 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79997937e+02 2.16942173e-03 -8.99999296e+01] -2025-05-21 16:15:41,298 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13499988 0.34433914] -2025-05-21 16:15:41,301 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159265e+00 4.79368983e-07 -1.57079633e+00] -2025-05-21 16:15:41,314 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999056 -0.13501083 0.34405841] -2025-05-21 16:15:41,318 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998179e+02 2.38379273e-03 -8.99998972e+01] -2025-05-21 16:15:41,320 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999995 -0.135 0.34433981] -2025-05-21 16:15:41,326 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 9.58739808e-07 -1.57079819e+00] -2025-05-21 16:15:41,333 - 测试日志 - INFO - log.py:106 - position command: [ 0.2499923 -0.13501113 0.34405672] -2025-05-21 16:15:41,336 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998273e+02 2.45611558e-03 -8.99999314e+01] -2025-05-21 16:15:41,342 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000041 -0.13499965 0.34433969] -2025-05-21 16:15:41,344 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159079e+00 1.43810879e-06 -1.57079726e+00] -2025-05-21 16:15:41,353 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999354 -0.13501064 0.34405391] -2025-05-21 16:15:41,355 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998468e+02 2.42607514e-03 -8.99999611e+01] -2025-05-21 16:15:41,358 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999965 -0.13499977 0.34433868] -2025-05-21 16:15:41,361 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159079e+00 9.58737078e-07 -1.57079686e+00] -2025-05-21 16:15:41,371 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999384 -0.13500999 0.34405066] -2025-05-21 16:15:41,374 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998809e+02 2.25027449e-03 -8.99999479e+01] -2025-05-21 16:15:41,376 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999983 -0.13499965 0.34433908] -2025-05-21 16:15:41,379 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 1.43810676e-06 -1.57079686e+00] -2025-05-21 16:15:41,390 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999499 -0.13500937 0.34404941] -2025-05-21 16:15:41,395 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998809e+02 2.12890937e-03 -8.99999557e+01] -2025-05-21 16:15:41,403 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13499977 0.34433914] -2025-05-21 16:15:41,405 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159265e+00 9.58737967e-07 -1.57079726e+00] -2025-05-21 16:15:41,415 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999579 -0.13500828 0.34404734] -2025-05-21 16:15:41,420 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79998898e+02 1.95960545e-03 -8.99999885e+01] -2025-05-21 16:15:41,423 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000017 -0.13499977 0.34433911] -2025-05-21 16:15:41,427 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 9.58737967e-07 -1.57079633e+00] -2025-05-21 16:15:41,431 - 测试日志 - INFO - log.py:106 - MassageRobot启动 -2025-05-21 16:15:41,434 - 测试日志 - INFO - log.py:106 - 机械臂控制线程启动 -2025-05-21 16:17:01,723 - 测试日志 - INFO - log.py:106 - 切换到finger_head按摩头 -2025-05-21 16:17:05,236 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000011 -0.13500035 0.34428398] -2025-05-21 16:17:05,239 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.80000000e+02 -8.23974624e-05 -9.00000000e+01] -2025-05-21 16:17:05,241 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999973 -0.13500023 0.34433899] -2025-05-21 16:17:05,242 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -1.43810701e-06 -1.57079579e+00] -2025-05-21 16:17:05,243 - 测试日志 - INFO - log.py:106 - 机械臂测量线程启动 -2025-05-21 16:17:05,248 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000011 -0.13500035 0.34423891] -2025-05-21 16:17:05,253 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.80000000e+02 -8.23974624e-05 -9.00000000e+01] -2025-05-21 16:17:05,256 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000012 -0.13500023 0.34433951] -2025-05-21 16:17:05,258 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.43810676e-06 -1.57079633e+00] -2025-05-21 16:17:05,264 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000032 -0.13500012 0.34420294] -2025-05-21 16:17:05,267 - 测试日志 - INFO - log.py:106 - orientation command: [-1.79999867e+02 -8.22254579e-05 -8.99998990e+01] -2025-05-21 16:17:05,270 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999971 -0.13500023 0.34433835] -2025-05-21 16:17:05,273 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159079e+00 -1.43810701e-06 -1.57079579e+00] -2025-05-21 16:17:05,283 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999972 -0.13500024 0.34417111] -2025-05-21 16:17:05,285 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999834e+02 -8.20813304e-05 -8.99998683e+01] -2025-05-21 16:17:05,288 - 测试日志 - INFO - log.py:106 - position current:[ 0.25000026 -0.13499986 0.34433884] -2025-05-21 16:17:05,291 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -1.43810701e-06 -1.57079446e+00] -2025-05-21 16:17:05,312 - 测试日志 - INFO - log.py:106 - position command: [ 0.25000019 -0.13500024 0.34414748] -2025-05-21 16:17:05,316 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999919e+02 -5.54241122e-05 -8.99998870e+01] -2025-05-21 16:17:05,323 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999979 -0.13500023 0.34433914] -2025-05-21 16:17:05,326 - 测试日志 - INFO - log.py:106 - orientation current: [-3.14159212e+00 -1.43810701e-06 -1.57079579e+00] -2025-05-21 16:17:05,330 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999995 -0.13500013 0.34412683] -2025-05-21 16:17:05,334 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999761e+02 -5.60960676e-05 -8.99998568e+01] -2025-05-21 16:17:05,336 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999992 -0.13500047 0.34433917] -2025-05-21 16:17:05,337 - 测试日志 - INFO - log.py:106 - orientation current: [ 3.14159212e+00 -1.43810727e-06 -1.57079726e+00] -2025-05-21 16:17:05,351 - 测试日志 - INFO - log.py:106 - position command: [ 0.24999994 -0.13500049 0.34411051] -2025-05-21 16:17:05,353 - 测试日志 - INFO - log.py:106 - orientation command: [ 1.79999734e+02 -8.31957225e-05 -8.99999891e+01] -2025-05-21 16:17:05,355 - 测试日志 - INFO - log.py:106 - position current:[ 0.24999994 -0.13500023 0.34433896] -2025-05-21 16:17:05,358 - 测试日志 - INFO - log.py:106 - orientation 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