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优化手柄控制

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This commit is contained in:
1002142102@qq.com
2025-12-10 11:46:28 +08:00
parent 450383cabb
commit 39d860c7ee
3 changed files with 35 additions and 28 deletions
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11
robot_client/robots/realman/motors_bus.py
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@@ -1,6 +1,6 @@
import time
from typing import Any, Dict
from Robotic_Arm.rm_robot_interface import *
from Robotic_Arm.rm_robot_interface import RoboticArm,rm_thread_mode_e
from lerobot.motors import Motor, MotorCalibration, MotorsBus
#动作执行成功
ACTION_SUCCESS = 0
@@ -224,6 +224,7 @@ class RealmanMotorsBus(MotorsBus):
values = list(actionData.values())
for k,v in enumerate(self.init_pose):
self.init_pose[k]+=values[k]
print(f"init_pose:{self.init_pose[:-1]}")
self.rmarm.rm_movej_p(self.init_pose[:-1], 50, 0, 0, 0)
# self.init_pose[6]+=actionData['gripper']
# self.rmarm.rm_set_gripper_position(int(self.init_pose[6]*1000), False, 0)
@@ -310,15 +311,15 @@ class RealmanMotorsBus(MotorsBus):
return 0,self.motors[motor].id
def _encode_sign(self, data_name, ids_values):
raise NotImplementedError
pass
def _decode_sign(self, data_name, ids_values):
raise NotImplementedError
pass
def _split_into_byte_chunks(self, value, length):
raise NotImplementedError
pass
def broadcast_ping(self, num_retry = 0, raise_on_error = False):
raise NotImplementedError
pass
def _handshake(self) -> None:
pass

30
robot_client/teleoperators/xbox/xbox.py
View File

@@ -90,38 +90,36 @@ class Xbox(Teleoperator):
hat_right = hat[0] == 1 # X+
# print(f"方向键状态: up={hat_up}, down={hat_down}, left={hat_left}, right={hat_right}")
# 计算各轴速度
pose_speeds['x.vel'] = -current_linear_step if hat_left else (current_linear_step if hat_right else 0.0) # X
pose_speeds['y.vel'] = current_linear_step if hat_up else (-current_linear_step if hat_down else 0.0) # Y
pose_speeds['x.vel'] = current_linear_step if hat_left else (-current_linear_step if hat_right else 0.0) # X
pose_speeds['y.vel'] = -current_linear_step if hat_up else (current_linear_step if hat_down else 0.0) # Y
# 左摇杆X轴
z_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(1))
print(f"Z轴非线性映射: {self.joystick.get_axis(1)} -> {z_mapping}")
pose_speeds['z.vel'] = z_mapping * current_angular_step * 2 # RY
# 左右扳机控制z轴
right_tiger = ((self.joystick.get_axis(5)+1)/2)
left_tiger = ((self.joystick.get_axis(4)+1)/2)
z_mapping = self.apply_nonlinear_mapping(left_tiger - right_tiger)
pose_speeds['z.vel'] = z_mapping * current_angular_step * 2
#左摇杆X轴控制RX旋转
#右摇杆X轴控制RX旋转
# 设置RX旋转速度
rx_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(2))
# print(f"RX轴非线性映射: {x_axis} -> {rx_mapping}")
pose_speeds['rx.vel'] = rx_mapping * current_angular_step * 2 # RX
# 左摇杆Y轴控制RY旋转
# 右摇杆Y轴控制RY旋转
# 设置RY旋转速度
ry_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(3))
ry_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(3))
# print(f"RY轴非线性映射: {y_axis} -> {ry_mapping}")
pose_speeds['ry.vel'] = ry_mapping * current_angular_step * 2 # RY
# 左右扳机控制RZ旋转
# 左摇杆X轴RZ旋转
# 设置RZ旋转速度
right_tiger = ((self.joystick.get_axis(5)+1)/2)
left_tiger = ((self.joystick.get_axis(4)+1)/2)
print(f"左右扳机: {left_tiger} {right_tiger}")
rz_mapping = self.apply_nonlinear_mapping(left_tiger - right_tiger)
rz_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(0))
# print(f"RZ轴非线性映射: {z_axis} -> {rz_mapping}")
pose_speeds['rz.vel'] = rz_mapping * current_angular_step * 2 # RZ
# 右摇杆Y轴控制夹爪
# 左摇杆Y轴控制夹爪
# 设置夹爪开合速度
gripper_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(0))
gripper_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(1))
# print(f"gripper轴非线性映射: {self.joystick.get_axis(0)} -> {gripper_mapping}")
pose_speeds['gripper.vel'] = gripper_mapping * current_angular_step * 2 # RY