stash

Language/LLM/scripts/LLM.py

@@ -100,9 +100,6 @@ class DashscopeClient:
         with open('LLM/config/trajectory_config/body_part_prompts.txt', 'r') as f:
             self.body_part_prompts = f.read().strip()
             self.body_part_message = [{'role': 'system', 'content': self.body_part_prompts}]
-        with open('LLM/config/trajectory_config/reason.txt', 'r') as f:
-            self.reason_prompts = f.read().strip()
-            self.reason_message = [{'role': 'system', 'content': self.reason_prompts}]
 
         with open('LLM/config/trajectory_config/shoulder_limit_prompts.txt', 'r') as f:
             self.shoulder_limit_prompts = f.read().strip()

Massage/Massage.py

@@ -1981,11 +1981,10 @@ class TaskBase(smach.State):
                 self.resources.logger.log_blue("检测到跳过，准备进入跳过流程")
                 self.resources.robot.is_execute = False
                 return True
-        if self.resources.motion_task[12] == True:
-            if self.resources.choose_task == "shockwave":
-                self.resources.robot.shockwave.on() # 开启冲击波
-                self.resources.robot.shockwave.p_set(level = self.resources.press)
-                self.resources.robot.shockwave.f_set(level = self.resources.frequency)
+        if self.resources.choose_task == "shockwave":
+            self.resources.robot.shockwave.on() # 开启冲击波
+            self.resources.robot.shockwave.p_set(level = self.resources.press)
+            self.resources.robot.shockwave.f_set(level = self.resources.frequency)
         if self.resources.motion_task[5] == "point" or self.resources.motion_task[5] == "point_rub":
             use_algorithm = self.resources.use_algorithm
             if self.resources.choose_task != "ion" and self.resources.motion_task[5] == "point":

Massage/MassageControl/MassageRobot_nova5.py

@@ -76,6 +76,8 @@ from matplotlib.animation import FuncAnimation
 
 import select
 
+import importlib.util
+
 current_file_path = os.path.abspath(__file__)
 MassageRobot_Dobot_Path = os.path.dirname(os.path.dirname(os.path.dirname(current_file_path)))
 print(MassageRobot_Dobot_Path)
@@ -88,6 +90,75 @@ from VortXDB.client import VTXClient
 当你注册多个函数时，它们的执行顺序遵循先进后出的顺序（LIFO：Last In, First Out）。也就是说，最后注册的函数会最先执行。
 """
 
+# 定义模块加载的函数
+def load_class_from_pyc(pyc_path, class_name, module_name):
+    """
+    动态加载 .pyc 文件并尝试访问其中的类。
+    
+    :param pyc_path: .pyc 文件路径
+    :param class_name: 需要访问的类名
+    :param module_name: 模块的名称（用于调试和错误信息）
+    :return: 类对象（如果加载和访问成功）
+    :raises: 文件未找到或类未定义等异常
+    """
+    # 检查文件是否存在
+    if not os.path.exists(pyc_path):
+        raise FileNotFoundError(f"Module file '{pyc_path}' not found.")
+    
+    try:
+        # 动态加载模块
+        spec = importlib.util.spec_from_file_location(module_name, pyc_path)
+        module = importlib.util.module_from_spec(spec)
+        sys.modules[module_name] = module
+        spec.loader.exec_module(module)
+        
+        # 尝试获取指定的类
+        class_obj = getattr(module, class_name, None)
+        if class_obj is None:
+            raise AttributeError(f"Class '{class_name}' not found in module '{module_name}'.")
+        
+        return class_obj  # 返回类对象
+    except Exception as e:
+        raise RuntimeError(f"Failed to load class '{class_name}' from module '{module_name}': {str(e)}")
+
+# 定义 .pyc 文件的路径
+shockwave_pyc_path = '/home/jsfb/jsfb_ws/hardware_bin/shockwave.pyc'
+thermotherapy_pyc_path = '/home/jsfb/jsfb_ws/hardware_bin/thermotherapy.pyc'
+stone_pyc_path = '/home/jsfb/jsfb_ws/hardware_bin/stone.pyc'
+ion_pyc_path = '/home/jsfb/jsfb_ws/hardware_bin/ion.pyc'
+heat_pyc_path = '/home/jsfb/jsfb_ws/hardware_bin/heat.pyc'
+
+# 使用封装的函数加载各个模块和类
+try:
+    Shockwave = load_class_from_pyc(shockwave_pyc_path, "Shockwave", "shockwave")
+    print("Shockwave class loaded successfully.")
+except Exception as e:
+    print(f"Error loading Shockwave: {str(e)}")
+
+try:
+    Thermotherapy = load_class_from_pyc(thermotherapy_pyc_path, "Thermotherapy", "thermotherapy")
+    print("Thermotherapy class loaded successfully.")
+except Exception as e:
+    print(f"Error loading Thermotherapy: {str(e)}")
+
+try:
+    Stone = load_class_from_pyc(stone_pyc_path, "Stone", "stone")
+    print("Stone class loaded successfully.")
+except Exception as e:
+    print(f"Error loading Stone: {str(e)}")
+
+try:
+    Ion = load_class_from_pyc(ion_pyc_path, "Ion", "ion")
+    print("Ion class loaded successfully.")
+except Exception as e:
+    print(f"Error loading Ion: {str(e)}")
+
+try:
+    Heat = load_class_from_pyc(heat_pyc_path, "Heat", "heat")
+    print("Heat class loaded successfully.")
+except Exception as e:
+    print(f"Error loading Heat: {str(e)}")
+
 def track_function(function_name,log = False):
     def before(self, *args, **kwargs):
         self.current_function = function_name
@@ -1821,12 +1892,16 @@ if __name__ == "__main__":
     # pose1 = [0.353467,-0.1349880,0.403604,-180.0000*np.pi/180,-30.0000*np.pi/180,0.0042*np.pi/180]
     # pose1 = [0.3736677762541832, 0.11722785977006844, 0.3835904171566223, -3.141592653589793, -0.5235987755982988, 7.330382858376184e-05]
     # pose1 = [0.4486,0.1172,0.2536,np.pi,-0.5236,0]
-    pose1 = [0.44866777605267877, 0.11723335755720732, 0.2536866065889565, 2.7069577869199146, -0.7176783797852828, 0.0]
+    # pose1 = [0.44866777605267877, 0.11723335755720732, 0.2536866065889565, 2.7069577869199146, -0.7176783797852828, 0.0]
 
-    robot.set_position(pose = pose1)
+    # robot.set_position(pose = pose1)
     # print("get_pos:",robot.ge)
     print("arm_position1:",robot.arm.get_arm_position())
     print("end_position1:",robot.arm.get_end_position())
+
+    robot.shockwave = Shockwave()
+    robot.shockwave.on()
+    
     # print("joint1:",robot.arm.getAngel())
     # robot.arm.move_joint(q=robot.arm.init_pos)
     # # robot.set_position([0.12189544299531646, -0.31364670468715944, 0.00733569473686102, 2.153932270623249, 0.6209756952505509, 0.0])
@@ -1850,9 +1925,11 @@ if __name__ == "__main__":
             time.sleep(1) 
     except KeyboardInterrupt:
         # robot_thread.join()
+        robot.shockwave.off()
         print("用户中断操作。")
     except Exception as e:
         # robot_thread.join()
+        robot.shockwave.off()
         print("Exception occurred at line:", e.__traceback__.tb_lineno)
         print("发生异常：", e)
     

Massage/MassageControl/hardware/dobot_nova5.py

@@ -176,6 +176,7 @@ class dobot_nova5:
 
         self.filter_matirx = np.zeros((1,7)) # 位姿伺服用
         # self.filter_matrix = np.zeros((1,6)) # 角度伺服用
+        self.dashboard.SpeedFactor(30)
         sleep(1)
         self.is_standby = False
         self.move_joint_jog_range(q=np.zeros(6))
@@ -393,7 +394,6 @@ class dobot_nova5:
         targetAngle = self.__transform_rad_2_deg(q)
         currentAngle = np.array(currentAngle)
         targetAngle = np.array(targetAngle)
-        self.dashboard.SpeedFactor(50)
 
         for i in range(len(targetAngle)):
             while np.abs(np.abs(currentAngle[i]) - targetAngle[i]) >threshold[i]:

Massage/aucpuncture2point/scripts/coordinate_transform.py

@@ -376,7 +376,7 @@ class CoordinateTransformer:
         # 机械臂末端坐标系到基座坐标系
         transformed_normal = R.from_quat(self.quaternion).as_matrix() @ arm_normal
 
-        print("transformed_normal:",arm_normal,transformed_normal)
+        # print("transformed_normal:",arm_normal,transformed_normal)
         
         return {
             'label': data['label'],