diff --git a/Language/Hotword_awaker/c19f02c7cf55de4ddc7a1220817d7c0cdbb1fd90 b/Language/Hotword_awaker/c19f02c7cf55de4ddc7a1220817d7c0cdbb1fd90 new file mode 100644 index 0000000..c4bf513 --- /dev/null +++ b/Language/Hotword_awaker/c19f02c7cf55de4ddc7a1220817d7c0cdbb1fd90 @@ -0,0 +1,5 @@ +{ + "device": "9d9bcb0f1803eef39e19b2a8629669447e3c7811bcf2d53009277d476011e497795ef500262b8f4791ab393c87f57a62238d7d95e48ad3ca8638655f9b1c2accf40efa9155719c04f57dfc5f4b39ef6d", + "extension": "647b0a09226c6576656c223a092232222c0a0922696e646578223a09226538363761383866323b222c0a092261757468696e666f223a09223538303836343731333362396361383262383565653662623631393234343438220a7d", + "license": "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+} \ No newline at end of file diff --git a/Language/Hotword_awaker/ivw_demo b/Language/Hotword_awaker/ivw_demo index 52389e7..09563a7 100755 Binary files a/Language/Hotword_awaker/ivw_demo and b/Language/Hotword_awaker/ivw_demo differ diff --git a/Language/LLM/scripts/LLM.py b/Language/LLM/scripts/LLM.py index 5705861..919a798 100755 --- a/Language/LLM/scripts/LLM.py +++ b/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() diff --git a/Language/audio.wav b/Language/audio.wav index 6c1b915..1dcb2e1 100644 Binary files a/Language/audio.wav and b/Language/audio.wav differ diff --git a/Massage/Massage.py b/Massage/Massage.py index 9509979..43ed770 100755 --- a/Massage/Massage.py +++ b/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": diff --git a/Massage/MassageControl/MassageRobot_nova5.py b/Massage/MassageControl/MassageRobot_nova5.py index e569438..0d98f96 100644 --- a/Massage/MassageControl/MassageRobot_nova5.py +++ b/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) diff --git a/Massage/MassageControl/hardware/dobot_nova5.py b/Massage/MassageControl/hardware/dobot_nova5.py index d7d687b..fbb36ca 100644 --- a/Massage/MassageControl/hardware/dobot_nova5.py +++ b/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]: diff --git a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_10.jpg b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_10.jpg index 8383e3b..2cb3063 100644 Binary files a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_10.jpg and b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_10.jpg differ diff --git a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_11.jpg b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_11.jpg index 2bc124f..8383e3b 100644 Binary files a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_11.jpg and 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