添加关节控制和末端控制两种控制模式的统一类；添加测试脚本；融合到piper.py
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300
piper_scripts/piper_demo_endpose.py
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300
piper_scripts/piper_demo_endpose.py
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#!/usr/bin/env python3
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# -*-coding:utf8-*-
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# 注意demo无法直接运行，需要pip安装sdk后才能运行
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from typing import (
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Optional,
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)
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import time
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from piper_sdk import *
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import pygame
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import threading
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import time
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from typing import Dict
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def enable_fun(piper:C_PiperInterface_V2):
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'''
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使能机械臂并检测使能状态,尝试5s,如果使能超时则退出程序
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'''
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enable_flag = False
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# 设置超时时间（秒）
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timeout = 5
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# 记录进入循环前的时间
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start_time = time.time()
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elapsed_time_flag = False
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while not (enable_flag):
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elapsed_time = time.time() - start_time
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print("--------------------")
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enable_flag = piper.GetArmLowSpdInfoMsgs().motor_1.foc_status.driver_enable_status and \
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piper.GetArmLowSpdInfoMsgs().motor_2.foc_status.driver_enable_status and \
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piper.GetArmLowSpdInfoMsgs().motor_3.foc_status.driver_enable_status and \
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piper.GetArmLowSpdInfoMsgs().motor_4.foc_status.driver_enable_status and \
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piper.GetArmLowSpdInfoMsgs().motor_5.foc_status.driver_enable_status and \
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piper.GetArmLowSpdInfoMsgs().motor_6.foc_status.driver_enable_status
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print("使能状态:",enable_flag)
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piper.EnableArm(7)
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piper.GripperCtrl(0,1000,0x01, 0)
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print("--------------------")
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# 检查是否超过超时时间
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if elapsed_time > timeout:
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print("超时....")
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elapsed_time_flag = True
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enable_flag = True
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break
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time.sleep(1)
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pass
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if(elapsed_time_flag):
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print("程序自动使能超时,退出程序")
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exit(0)
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class EndPoseController:
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def __init__(self):
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pygame.init()
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pygame.joystick.init()
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if pygame.joystick.get_count() == 0:
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raise Exception("未检测到手柄")
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self.joystick = pygame.joystick.Joystick(0)
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self.joystick.init()
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# 末端初始姿态 [X, Y, Z, RX, RY, RZ]
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# {'X': 56127, 'Y': 0, 'Z': 213266, 'RX': 0, 'RY': 84999, 'RZ': 0, 'gripper': -70} # 右臂
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self.pose = [0.056127, 0, 0.213266, 0, 84.999, 0]
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self.speeds = [0.0] * 6
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# 夹爪状态和速度
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self.gripper = 0.0
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self.gripper_speed = 0.0
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# 末端位姿限制
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self.pose_limits = [
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(-0.6, 0.6), # X (m)
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(-0.6, 0.6), # Y (m)
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(0.05, 0.6), # Z (m) - 设置最小高度防止碰撞
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(-180, 180), # RX (deg)
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(-180, 180), # RY (deg)
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(-180, 180) # RZ (deg)
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]
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# 控制参数
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self.linear_step = 0.003 # 线性移动步长(m)，降低以提高精度
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self.angular_step = 0.1 # 角度步长(deg)，提高以便更好控制
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# 摇杆死区
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self.deadzone = 0.15
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# 控制模式
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self.fine_control_mode = False # 精细控制模式
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self.running = True
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self.thread = threading.Thread(target=self.update_pose)
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self.thread.start()
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print("末端位姿控制器已启动")
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print("使用方向键上下左右控制XY，右摇杆控制Z")
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print("L1/R1控制RX，△/□控制RY，右摇杆Y轴控制RZ")
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print("按下L3(左摇杆按下)切换精细/普通控制模式")
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def update_pose(self):
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while self.running:
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try:
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pygame.event.pump()
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except Exception as e:
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print(f"控制器错误: {e}")
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self.stop()
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continue
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# 检查精细控制模式切换
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if self.joystick.get_button(10): # L3按钮
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self.fine_control_mode = not self.fine_control_mode
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print(f"切换到{'精细' if self.fine_control_mode else '普通'}控制模式")
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time.sleep(0.3) # 防止多次触发
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# 根据控制模式调整步长
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current_linear_step = self.linear_step * (0.1 if self.fine_control_mode else 1.0)
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current_angular_step = self.angular_step * (0.1 if self.fine_control_mode else 1.0)
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# 方向键控制XY
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hat = self.joystick.get_hat(0)
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hat_up = hat[1] == 1 # Y+
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hat_down = hat[1] == -1 # Y-
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hat_left = hat[0] == -1 # X-
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hat_right = hat[0] == 1 # X+
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# 右摇杆控制Z和RZ
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right_y = -self.joystick.get_axis(4) # Z控制，取反使向上为正
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left_y = -self.joystick.get_axis(1) # RZ控制，取反使向上为正
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# 应用死区
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right_y = 0.0 if abs(right_y) < self.deadzone else right_y
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left_y = 0.0 if abs(left_y) < self.deadzone else left_y
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# 设置XY速度（方向键控制）
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# self.speeds[0] = current_linear_step if hat_right else (-current_linear_step if hat_left else 0.0) # X
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# self.speeds[1] = current_linear_step if hat_up else (-current_linear_step if hat_down else 0.0) # Y
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self.speeds[0] = current_linear_step if hat_up else (-current_linear_step if hat_down else 0.0) # X
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self.speeds[1] = current_linear_step if hat_left else (-current_linear_step if hat_right else 0.0) # Y
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# 设置Z速度（右摇杆Y轴控制）
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self.speeds[2] = self._apply_nonlinear_mapping(right_y) * current_linear_step # Z
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# L1/R1控制RX旋转
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LB = self.joystick.get_button(4) # RX-
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RB = self.joystick.get_button(5) # RX+
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self.speeds[3] = (-current_angular_step if LB else (current_angular_step if RB else 0.0))
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# △/□控制RY旋转
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triangle = self.joystick.get_button(2) # RY+
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square = self.joystick.get_button(3) # RY-
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self.speeds[4] = (current_angular_step if triangle else (-current_angular_step if square else 0.0))
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# 左摇杆Y轴控制RZ旋转
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self.speeds[5] = self._apply_nonlinear_mapping(left_y) * current_angular_step * 2 # RZ，增加系数使旋转更明显
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# 夹爪控制（圈/叉）
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circle = self.joystick.get_button(1) # 夹爪开
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cross = self.joystick.get_button(0) # 夹爪关
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self.gripper_speed = 0.01 if circle else (-0.01 if cross else 0.0)
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# 更新末端位姿
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for i in range(6):
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self.pose[i] += self.speeds[i]
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# 位置限制
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for i in range(3):
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min_val, max_val = self.pose_limits[i]
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self.pose[i] = max(min_val, min(max_val, self.pose[i]))
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# 角度归一化处理
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for i in range(3, 6):
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self.pose[i] = self._normalize_angle(self.pose[i])
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# 更新夹爪
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self.gripper += self.gripper_speed
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self.gripper = max(0.0, min(0.08, self.gripper))
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time.sleep(0.02)
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def _normalize_angle(self, angle):
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"""将角度归一化到[-180, 180]范围内"""
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while angle > 180:
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angle -= 360
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while angle < -180:
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angle += 360
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return angle
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def _apply_nonlinear_mapping(self, value):
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"""应用非线性映射以提高控制精度"""
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# 保持符号，但对数值应用平方映射以提高精度
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sign = 1 if value >= 0 else -1
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return sign * (abs(value) ** 2)
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def get_action(self) -> Dict:
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"""获取当前末端位姿和夹爪状态"""
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return {
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'X': self.pose[0]*1000,
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'Y': self.pose[1]*1000,
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'Z': self.pose[2]*1000,
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'RX': self.pose[3],
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'RY': self.pose[4],
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'RZ': self.pose[5],
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'gripper': self.gripper*1000
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}
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def stop(self):
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"""停止控制器"""
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self.running = False
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if self.thread.is_alive():
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self.thread.join()
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pygame.quit()
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print("末端位姿控制器已退出")
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def reset(self):
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"""重置到初始位姿"""
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self.pose = [0.056127, 0, 0.213266, 0, 84.999, 0] # 使用您提供的初始位姿
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self.speeds = [0.0] * 6
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self.gripper = 0.0
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self.gripper_speed = 0.0
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print("已重置到初始位姿")
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if __name__ == "__main__":
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piper = C_PiperInterface_V2("can0")
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piper.ConnectPort()
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piper.EnableArm(7)
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enable_fun(piper=piper)
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piper.GripperCtrl(0,1000,0x01, 0)
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factor = 1000
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position = [
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55.0, \
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0.0, \
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206.0, \
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0, \
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85.0, \
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0, \
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0]
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# position = [0.0, \
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# 0.0, \
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# 80.0, \
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# 0, \
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# 203.386, \
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# 0, \
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# 0.8]
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count = 0
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teleop = EndPoseController()
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while True:
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print(piper.GetArmEndPoseMsgs())
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# print(piper.GetArmStatus())
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import time
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# count = count + 1
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# # print(count)
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# if(count == 0):
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# print("1-----------")
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# position = [
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# 55.0, \
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# 0.0, \
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# 206.0, \
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# 0, \
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# 85.0, \
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# 0, \
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# 0]
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# elif(count == 200):
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# print("2-----------")
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# position = [
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# 55.0, \
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# 0.0, \
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# 260.0, \
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# 0, \
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# 85.0, \
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# 0, \
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# 0]
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# elif(count == 400):
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# print("1-----------")
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# position = [
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# 55.0, \
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# 0.0, \
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# 280.0, \
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# 0, \
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# 85.0, \
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# 0, \
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# 0]
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# count = 0
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position = teleop.get_action()
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position = list(position.values())
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X = round(position[0]*factor)
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Y = round(position[1]*factor)
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Z = round(position[2]*factor)
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RX = round(position[3]*factor)
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RY = round(position[4]*factor)
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RZ = round(position[5]*factor)
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joint_6 = round(position[6]*factor)
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print(X,Y,Z,RX,RY,RZ, joint_6)
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# piper.MotionCtrl_1()
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piper.MotionCtrl_2(0x01, 0x00, 100, 0x00)
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piper.EndPoseCtrl(X,Y,Z,RX,RY,RZ)
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piper.GripperCtrl(abs(joint_6), 1000, 0x01, 0)
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time.sleep(0.1)
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pass
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