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修改massagrobot_nova5

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swayneleong 2025-05-28 15:34:32 +08:00
parent 902a36ef4d
commit cc63eb47a5
1 changed files with 87 additions and 75 deletions
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158
Massage/MassageControl/MassageRobot_nova5.py
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@ -108,11 +108,14 @@ class MassageRobot:
self.vtxdb = VTXClient()
# 当前执行的函数
self.current_function = None
self.arm_state = ArmState()
self.arm_config = read_yaml(arm_config_path)
# arm 实例化时机械臂类内部进行通讯连接
self.arm = dobot_nova5(arm_ip = self.arm_config['arm_ip'])
self.arm.start()
self.arm.init()
self.thermotherapy = None
self.shockwave = None
@ -136,26 +139,9 @@ class MassageRobot:
self.controller_manager.add_controller(AdmittanceZController,'admittanceZ',self.arm_config['controller'][7])
self.controller_manager.switch_controller('admittance')
# 按摩头参数暂时使用本地数据
massage_head_dir = self.arm_config['massage_head_dir']
all_items = os.listdir(massage_head_dir)
head_config_files = [f for f in all_items if os.path.isfile(os.path.join(massage_head_dir, f))]
self.playload_dict = {}
for file in head_config_files:
file_address = massage_head_dir + '/' + file
play_load = read_yaml(file_address)
self.playload_dict[play_load['name']] = play_load
self.current_head = 'none'
# 读取数据
self.gravity_base = None
self.force_zero = None
self.torque_zero = None
self.tool_position = None
self.mass_center_position = None
self.s_tf_matrix_t = None
arm_orientation_set0 = np.array([-180,0,-90])
self.b_rotation_s_set0 = R.from_euler('xyz',arm_orientation_set0,degrees=True).as_matrix()
# 频率数据赋值
self.control_rate = Rate(self.arm_config['control_rate'])
@ -177,15 +163,30 @@ class MassageRobot:
# 按摩调整
self.adjust_wrench_envent = threading.Event()
self.adjust_wrench_envent.clear() # 调整初始化为False
self.is_execute = False
self.pos_increment = np.zeros(3,dtype=np.float64)
self.adjust_wrench = np.zeros(6,dtype=np.float64)
self.skip_pos = np.zeros(6,dtype=np.float64)
# 按摩头参数暂时使用本地数据
massage_head_dir = self.arm_config['massage_head_dir']
all_items = os.listdir(massage_head_dir)
head_config_files = [f for f in all_items if os.path.isfile(os.path.join(massage_head_dir, f))]
self.playload_dict = {}
for file in head_config_files:
file_address = massage_head_dir + '/' + file
play_load = read_yaml(file_address)
self.playload_dict[play_load['name']] = play_load
# self.playload_dict = self.vtxdb.get("robot_config", "massage_head")
# print(self.playload_dict)
self.current_head = 'none'
self.is_waitting = False
self.last_print_time = 0
self.last_record_time = 0
self.last_command_time = 0
self.move_to_point_count = 0
self.width_default = 5
# 卡尔曼滤波相关初始化
self.x_base = np.zeros(6)
self.P_base = np.eye(6)
@ -203,7 +204,16 @@ class MassageRobot:
# 传感器故障计数器
self.sensor_fail_count = 0
# 机械臂初始化,适配中间层
self.arm.init()
# 读取数据
self.gravity_base = None
self.force_zero = None
self.torque_zero = None
self.tool_position = None
self.mass_center_position = None
self.s_tf_matrix_t = None
arm_orientation_set0 = np.array([-180,0,-90])
self.b_rotation_s_set0 = R.from_euler('xyz',arm_orientation_set0,degrees=True).as_matrix()
# REF TRAJ
self.xr = []
@ -215,6 +225,36 @@ class MassageRobot:
self.last_time = -1
self.cur_time = -1
# 预测步骤
def kalman_predict(self,x, P, Q):
# 预测状态（这里假设状态不变）
x_predict = x
# 预测误差协方差
P_predict = P + Q
return x_predict, P_predict
# 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)
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
P_update = (np.eye(len(K)) - K) @ P_predict
return x_update, P_update
def init_hardwares(self,ready_pose):
self.ready_pose = np.array(ready_pose)
self.switch_payload(self.current_head)
print(self.arm.get_arm_position())
time.sleep(0.5)
def sensor_set_zero(self):
self.arm_position_set0,self.arm_orientation_set0 = self.arm.get_arm_position()
@ -323,30 +363,7 @@ class MassageRobot:
return -1
return 0
# 预测步骤
def kalman_predict(self,x, P, Q):
# 预测状态（这里假设状态不变）
x_predict = x
# 预测误差协方差
P_predict = P + Q
return x_predict, P_predict
# 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)
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
P_update = (np.eye(len(K)) - K) @ P_predict
return x_update, P_update
def update_wrench(self):
# 当前的机械臂到末端转换 (实时)
@ -384,6 +401,29 @@ class MassageRobot:
self.arm_state.last_external_wrench_tcp = self.arm_state.external_wrench_tcp
return 0
def switch_payload(self,name):
if name in self.playload_dict:
self.stop()
self.current_head = name
compensation_config = self.playload_dict[self.current_head]
# 读取数据
self.gravity_base = np.array(compensation_config['gravity_base'])
self.force_zero = np.array(compensation_config['force_zero'])
self.torque_zero = np.array(compensation_config['torque_zero'])
self.tool_position = np.array(compensation_config['tcp_offset'])
self.mass_center_position = np.array(compensation_config['mass_center_position'])
self.s_tf_matrix_t = self.get_tf_matrix(self.tool_position[:3], R.from_euler('xyz',self.tool_position[3:],degrees=False).as_quat())
tcp_offset = self.playload_dict[name]["tcp_offset"]
tcp_offset_str = "{" + ",".join(map(str, tcp_offset)) + "}"
print("tcp_offset_str",tcp_offset_str)
self.arm.setEndEffector(i=9,tool_i=tcp_offset_str)
self.arm.chooseEndEffector(i=9)
print(self.arm.get_arm_position())
self.logger.log_info(f"切换到{name}按摩头")
# ####################### 位姿伺服 ##########################
def arm_measure_loop(self):
@ -535,7 +575,7 @@ class MassageRobot:
# 线程
self.exit_event.clear()
self.arm_measure_thread = threading.Thread(target=self.arm_measure_loop)
self.arm_control_thread = threading.Thread(target=self.arm_command_loop)
self.arm_control_thread = threading.Thread(target=self.arm_command_loop_traj)
# 线程启动
self.arm_measure_thread.start() ## 测量线程
position,quat_rot = self.arm.get_arm_position()
@ -584,34 +624,7 @@ class MassageRobot:
self.arm.stop_motion()
self.logger.log_info("MassageRobot停止")
def init_hardwares(self,ready_pose):
self.ready_pose = np.array(ready_pose)
self.switch_payload(self.current_head)
print(self.arm.get_arm_position())
time.sleep(0.5)
def switch_payload(self,name):
if name in self.playload_dict:
self.stop()
self.current_head = name
compensation_config = self.playload_dict[self.current_head]
# 读取数据
self.gravity_base = np.array(compensation_config['gravity_base'])
self.force_zero = np.array(compensation_config['force_zero'])
self.torque_zero = np.array(compensation_config['torque_zero'])
self.tool_position = np.array(compensation_config['tcp_offset'])
self.mass_center_position = np.array(compensation_config['mass_center_position'])
self.s_tf_matrix_t = self.get_tf_matrix(self.tool_position[:3], R.from_euler('xyz',self.tool_position[3:],degrees=False).as_quat())
tcp_offset = self.playload_dict[name]["tcp_offset"]
tcp_offset_str = "{" + ",".join(map(str, tcp_offset)) + "}"
print("tcp_offset_str",tcp_offset_str)
self.arm.setEndEffector(i=9,tool_i=tcp_offset_str)
self.arm.chooseEndEffector(i=9)
print(self.arm.get_arm_position())
self.logger.log_info(f"切换到{name}按摩头")
self.controller_manager.switch_controller('position')
else:
self.logger.log_error(f"未找到{name}按摩头")
@ -1608,12 +1621,11 @@ if __name__ == "__main__":
try:
robot_thread = threading.Thread(target=robot.start)
robot_thread.start()
except KeyboardInterrupt:
print("用户中断操作。")
except Exception as e:
print("Exception occurred at line:", e.__traceback__.tb_lineno)
print("发生异常：", e)
robot_thread.join() # 等待机械臂线程结束
# robot.arm.disableRobot()