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1.增加xbox控制器和飞行手柄控制器

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2.增加多臂多控制器模式
3.末端姿态由欧拉角控制切换到四元数控制
4.增加vr手柄控制器

Signed-off-by: 1002142102@qq.com <1002142102@qq.com>
This commit is contained in:
1002142102@qq.com
2025-12-24 14:02:34 +08:00
parent becdc2c894
commit cc31254055
23 changed files with 1510 additions and 148 deletions
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15
robot_client/teleoperators/flight_stick/flight_stick.py
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@@ -9,7 +9,6 @@ class FlightStick(Xbox):
name = "flight_stick"
def get_action(self):
pygame.event.pump()
pose_speeds = {}
"""更新末端位姿控制"""
# 根据控制模式调整步长
@@ -21,7 +20,7 @@ class FlightStick(Xbox):
self.fine_control_mode = False
# print(f"步长设置 - 线性: {current_linear_step}, 角度: {current_angular_step}")
print(f"精细控制模式: {self.fine_control_mode}")
# print(f"精细控制模式: {self.fine_control_mode}")
# print(f"{self.joystick.get_axis(0)},{self.joystick.get_axis(1)},{self.joystick.get_axis(2)},{self.joystick.get_axis(3)}")
# 方向键控制XY
hat = self.joystick.get_hat(0)
@@ -35,28 +34,28 @@ class FlightStick(Xbox):
# print(f"方向键状态: up={hat_up}, down={hat_down}, left={hat_left}, right={hat_right}")
if self.joystick.get_button(8): # X按钮
pose_speeds['z.vel'] = current_linear_step
pose_speeds['z.vel'] = current_linear_step/3
elif self.joystick.get_button(9): # Y按钮
pose_speeds['z.vel'] = -current_linear_step
pose_speeds['z.vel'] = -current_linear_step/3
else:
pose_speeds['z.vel'] = 0
# 主摇杆X轴控制RX旋转
# 设置RX旋转速度
rx_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(1))
rx_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(0))
# print(f"RX轴非线性映射: {x_axis} -> {rx_mapping}")
pose_speeds['rx.vel'] = rx_mapping * current_angular_step * 2 # RX
# 主摇杆Y轴控制RY旋转
# 设置RY旋转速度
ry_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(0))
ry_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(1))
# print(f"RY轴非线性映射: {y_axis} -> {ry_mapping}")
pose_speeds['ry.vel'] = ry_mapping * current_angular_step * 2 # RY
# 主摇杆左右旋转轴 控制RZ旋转
# 设置RZ旋转速度
rz_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(3))
rz_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(3))
# print(f"RZ轴非线性映射: {z_axis} -> {rz_mapping}")
pose_speeds['rz.vel'] = rz_mapping * current_angular_step * 2 # RZ
if self.joystick.get_button(0): # X按钮
@@ -65,5 +64,5 @@ class FlightStick(Xbox):
pose_speeds['gripper.vel'] = -current_linear_step
else:
pose_speeds['gripper.vel'] = 0
print(f"pose_speeds: {pose_speeds}")
# print(f"pose_speeds: {pose_speeds}")
return pose_speeds