From cde3cdb5f6fb94fc7f71dce6919cdc37c3155ae6 Mon Sep 17 00:00:00 2001 From: "Ziwei.He" Date: Fri, 30 May 2025 10:32:00 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=B8=80=E4=BA=9B=E5=B0=8F?= =?UTF-8?q?=E7=BB=86=E8=8A=82=EF=BC=8C=E5=BA=95=E5=B1=82=E7=A2=B0=E6=92=9E?= =?UTF-8?q?=E6=A3=80=E6=B5=8B=E9=98=88=E5=80=BC=E5=B7=B2=E4=BF=AE=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Massage/MassageControl/hardware/dobot_nova5.py | 1 + .../MassageControl/tools/auto_visual_valibration.py | 10 ++++++++++ 2 files changed, 11 insertions(+) diff --git a/Massage/MassageControl/hardware/dobot_nova5.py b/Massage/MassageControl/hardware/dobot_nova5.py index 4f479fa..128f801 100644 --- a/Massage/MassageControl/hardware/dobot_nova5.py +++ b/Massage/MassageControl/hardware/dobot_nova5.py @@ -95,6 +95,7 @@ class dobot_nova5: self.feedbackData.QActual = feedInfo['QActual'][0] self.feedbackData.ActualQuaternion = feedInfo['ActualQuaternion'][0] self.feedbackData.ToolVectorActual = feedInfo['ToolVectorActual'][0] + self.feedbackData.QDActual = feedInfo['QDActual'][0] # 自定义添加所需反馈数据 ''' self.feedData.DigitalOutputs = int(feedInfo['DigitalOutputs'][0]) diff --git a/Massage/MassageControl/tools/auto_visual_valibration.py b/Massage/MassageControl/tools/auto_visual_valibration.py index d6bb8b9..ae04a8d 100644 --- a/Massage/MassageControl/tools/auto_visual_valibration.py +++ b/Massage/MassageControl/tools/auto_visual_valibration.py @@ -231,6 +231,12 @@ if __name__ == '__main__': os.makedirs(systemPath, exist_ok=True) calib = Calibration(calibration_board_size,calibration_board_square_size,systemPath) + + time.sleep(0.5) + calib.arm.chooseBaseFrame(i=1) + calib.arm.chooseEndEffector(i=0) + time.sleep(0.5) + calib.collect_data() print("=================数据采集完成===================") R, t,intrin = calib.calibrate() @@ -240,3 +246,7 @@ if __name__ == '__main__': print("平移向量：") print(t) print(f"内参： {intrin}") + time.sleep(0.5) + calib.cam.stop() + time.sleep(0.5) + print('camera stopped')