DevelopmentTeam/MassageRobot_Dobot
15
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

更新一些小细节，底层碰撞检测阈值已修改

Browse Source
This commit is contained in:
Ziwei.He 2025-05-30 10:32:00 +08:00
parent bf7e034477
commit cde3cdb5f6
2 changed files with 11 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Massage/MassageControl/hardware/dobot_nova5.py
View File

@ -95,6 +95,7 @@ class dobot_nova5:
self.feedbackData.QActual = feedInfo['QActual'][0] self.feedbackData.QActual = feedInfo['QActual'][0]
self.feedbackData.ActualQuaternion = feedInfo['ActualQuaternion'][0] self.feedbackData.ActualQuaternion = feedInfo['ActualQuaternion'][0]
self.feedbackData.ToolVectorActual = feedInfo['ToolVectorActual'][0] self.feedbackData.ToolVectorActual = feedInfo['ToolVectorActual'][0]
self.feedbackData.QDActual = feedInfo['QDActual'][0]
# 自定义添加所需反馈数据 # 自定义添加所需反馈数据
''' '''
self.feedData.DigitalOutputs = int(feedInfo['DigitalOutputs'][0]) self.feedData.DigitalOutputs = int(feedInfo['DigitalOutputs'][0])

10
Massage/MassageControl/tools/auto_visual_valibration.py
View File

@ -231,6 +231,12 @@ if __name__ == '__main__':
os.makedirs(systemPath, exist_ok=True) os.makedirs(systemPath, exist_ok=True)
calib = Calibration(calibration_board_size,calibration_board_square_size,systemPath) 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() calib.collect_data()
print("=================数据采集完成===================") print("=================数据采集完成===================")
R, t,intrin = calib.calibrate() R, t,intrin = calib.calibrate()
@ -240,3 +246,7 @@ if __name__ == '__main__':
print("平移向量：") print("平移向量：")
print(t) print(t)
print(f"内参： {intrin}") print(f"内参： {intrin}")
time.sleep(0.5)
calib.cam.stop()
time.sleep(0.5)
print('camera stopped')