908 lines
29 KiB
Python
908 lines
29 KiB
Python
#!/usr/bin/env python3
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"""CRAIC mechanical arm UDP controller.
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Mechanical structure used here:
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1. J2/J3/J4 rotate around the Z axis in the XY plane.
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2. The gripper TCP has a fixed offset relative to the J4 frame: (x4, 0, z4).
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3. ``phi`` is the TCP yaw in the XY plane and is always ``J2 + J3 + J4``.
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4. All linear pose and geometry values are millimeters.
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Supports two control modes:
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1. Direct joint command mode.
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2. Cartesian TCP pose mode using the inverse kinematics from ``docs/craic.md``.
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"""
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from __future__ import annotations
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import argparse
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import json
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import math
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import socket
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import sys
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import time
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from dataclasses import dataclass
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from pathlib import Path
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DEFAULT_UDP_IP = "192.168.4.1"
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DEFAULT_UDP_PORT = 8888
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DEFAULT_HEIGHT_MIN = -290 # 内部 d1 坐标：底部，单位 mm（z 轴朝上）
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DEFAULT_HEIGHT_MAX = 0 # 内部 d1 坐标：顶部，单位 mm（z 轴朝上）
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DEFAULT_JOINT_MIN = -180
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DEFAULT_JOINT_MAX = 180
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DEFAULT_J2_MIN = -110
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DEFAULT_J2_MAX = 115
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DEFAULT_J3_MIN = -120
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DEFAULT_J3_MAX = 145
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DEFAULT_J4_MIN = -90
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DEFAULT_J4_MAX = 130
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J5_OPEN = 81
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J5_CLOSED = -100
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Z4_OPEN = 55
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Z4_CLOSED = -100
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DEFAULT_FIXED_J5 = J5_OPEN
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# ==== 抓取/释放（由 J6 控制）====
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# 请填写实际角度值：
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GRIP_ANGLE = -5 # TODO: 填写抓取时 J6 的角度
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RELEASE_ANGLE = 80 # TODO: 填写释放时 J6 的角度
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DEFAULT_FIXED_J6 = RELEASE_ANGLE
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DEFAULT_ZERO_J2 = 3
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DEFAULT_ZERO_J3 = 7
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DEFAULT_ZERO_J4 = 25
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DEFAULT_L1 = 125.0
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DEFAULT_L2 = 125.0
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DEFAULT_X4 = 110.0
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DEFAULT_Z4 = 80.0
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DEFAULT_INTERP_DURATION = 1.0
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DEFAULT_INTERP_RATE = 20.0
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STATE_FILE = Path(__file__).with_name(".udp_control_state.json")
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class ArmControlError(ValueError):
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"""Raised when the requested arm pose is invalid."""
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@dataclass(frozen=True)
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class ArmGeometry:
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l1: float
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l2: float
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x4: float
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z4: float
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@dataclass(frozen=True)
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class ArmLimits:
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height_min: int = DEFAULT_HEIGHT_MIN
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height_max: int = DEFAULT_HEIGHT_MAX
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joint_min: int = DEFAULT_JOINT_MIN
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joint_max: int = DEFAULT_JOINT_MAX
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j2_min: int = DEFAULT_J2_MIN
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j2_max: int = DEFAULT_J2_MAX
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j3_min: int = DEFAULT_J3_MIN
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j3_max: int = DEFAULT_J3_MAX
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j4_min: int = DEFAULT_J4_MIN
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j4_max: int = DEFAULT_J4_MAX
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@dataclass(frozen=True)
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class ArmZeroOffsets:
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j2: int = DEFAULT_ZERO_J2
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j3: int = DEFAULT_ZERO_J3
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j4: int = DEFAULT_ZERO_J4
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@dataclass(frozen=True)
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class ArmJointState:
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height: int
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j2: int
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j3: int
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j4: int
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j5: int = DEFAULT_FIXED_J5
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j6: int = DEFAULT_FIXED_J6
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def to_udp_message(self) -> bytes:
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return (
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f"JXB:{self.height}:{self.j2}:{self.j3}:{self.j4}:"
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f"{self.j5}:{self.j6}:0:0:EZHY\n"
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).encode("utf-8")
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@dataclass(frozen=True)
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class ArmPose:
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x: float
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y: float
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z: float
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phi_deg: float
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@dataclass(frozen=True)
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class ArmMathState:
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d1: float
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theta2_deg: float
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theta3_deg: float
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theta4_deg: float
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@dataclass(frozen=True)
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class Joint4Center:
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x: float
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y: float
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z: float
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def default_command_state() -> ArmJointState:
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return ArmJointState(
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height=-DEFAULT_HEIGHT_MAX,
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j2=DEFAULT_ZERO_J2,
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j3=DEFAULT_ZERO_J3,
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j4=DEFAULT_ZERO_J4,
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j5=DEFAULT_FIXED_J5,
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j6=DEFAULT_FIXED_J6,
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)
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def clamp_int(value: float, lower: int, upper: int, name: str) -> int:
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rounded = int(round(value))
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if rounded < lower or rounded > upper:
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raise ArmControlError(
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f"{name}={rounded} 超出范围 [{lower}, {upper}]"
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)
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return rounded
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def normalize_angle_deg(angle_deg: float) -> float:
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normalized = (angle_deg + 180.0) % 360.0 - 180.0
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if normalized == -180.0 and angle_deg > 0:
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return 180.0
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return normalized
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def lerp(start: float, end: float, t: float) -> float:
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return start + (end - start) * t
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def lerp_angle_deg(start_deg: float, end_deg: float, t: float) -> float:
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delta = normalize_angle_deg(end_deg - start_deg)
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return normalize_angle_deg(start_deg + delta * t)
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def tcp_to_joint4_center(geometry: ArmGeometry, pose: ArmPose) -> Joint4Center:
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"""Project the TCP target back to the J4 rotation center.
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``x4`` and ``z4`` only affect position conversion. They do not affect ``phi``.
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"""
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phi = math.radians(pose.phi_deg)
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return Joint4Center(
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x=pose.x - geometry.x4 * math.cos(phi),
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y=pose.y - geometry.x4 * math.sin(phi),
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z=pose.z + geometry.z4,
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)
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def forward_kinematics(geometry: ArmGeometry, state: ArmMathState) -> ArmPose:
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theta2 = math.radians(state.theta2_deg)
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theta3 = math.radians(state.theta3_deg)
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theta4 = math.radians(state.theta4_deg)
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phi = theta2 + theta3 + theta4
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j4_center_x = (
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geometry.l1 * math.cos(theta2)
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+ geometry.l2 * math.cos(theta2 + theta3)
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)
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j4_center_y = (
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geometry.l1 * math.sin(theta2)
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+ geometry.l2 * math.sin(theta2 + theta3)
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)
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x = j4_center_x + geometry.x4 * math.cos(phi)
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y = j4_center_y + geometry.x4 * math.sin(phi)
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z = state.d1 - geometry.z4
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return ArmPose(x=x, y=y, z=z, phi_deg=math.degrees(phi))
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def inverse_kinematics(
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geometry: ArmGeometry,
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pose: ArmPose,
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limits: ArmLimits,
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elbow_up: bool,
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j5: int,
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j6: int,
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) -> ArmMathState:
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joint4_center = tcp_to_joint4_center(geometry, pose)
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d1 = joint4_center.z
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r2 = joint4_center.x * joint4_center.x + joint4_center.y * joint4_center.y
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if r2 < 1e-9:
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raise ArmControlError("目标点过于接近奇异点，无法稳定求解 J2。")
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denom = 2.0 * geometry.l1 * geometry.l2
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if abs(denom) < 1e-9:
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raise ArmControlError("机械臂几何参数无效：L1 和 L2 不能为 0。")
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c3 = (r2 - geometry.l1 * geometry.l1 - geometry.l2 * geometry.l2) / denom
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if c3 < -1.0 - 1e-9 or c3 > 1.0 + 1e-9:
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reach = math.sqrt(r2)
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raise ArmControlError(
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f"目标超出工作空间，关节 4 投影距离为 {reach:.3f}mm。"
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)
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c3 = max(-1.0, min(1.0, c3))
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s3_abs = math.sqrt(max(0.0, 1.0 - c3 * c3))
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s3 = -s3_abs if elbow_up else s3_abs
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theta3 = math.atan2(s3, c3)
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theta2 = math.atan2(joint4_center.y, joint4_center.x) - math.atan2(
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geometry.l2 * s3,
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geometry.l1 + geometry.l2 * c3,
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)
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phi = math.radians(pose.phi_deg)
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theta4 = phi - theta2 - theta3
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return ArmMathState(
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d1=d1,
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theta2_deg=normalize_angle_deg(math.degrees(theta2)),
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theta3_deg=normalize_angle_deg(math.degrees(theta3)),
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theta4_deg=normalize_angle_deg(math.degrees(theta4)),
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)
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def command_to_math_state(
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command_state: ArmJointState,
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zero_offsets: ArmZeroOffsets,
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) -> ArmMathState:
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return ArmMathState(
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d1=command_state.height,
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theta2_deg=command_state.j2 - zero_offsets.j2,
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theta3_deg=command_state.j3 - zero_offsets.j3,
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theta4_deg=command_state.j4 - zero_offsets.j4,
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)
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def math_to_command_state(
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math_state: ArmMathState,
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zero_offsets: ArmZeroOffsets,
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limits: ArmLimits,
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j5: int,
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j6: int,
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) -> ArmJointState:
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return ArmJointState(
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height=clamp_int(
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round(math_state.d1),
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limits.height_min,
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limits.height_max,
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"height(cmd)",
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),
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j2=clamp_int(
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math_state.theta2_deg + zero_offsets.j2,
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limits.j2_min,
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limits.j2_max,
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"J2(cmd)",
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),
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j3=clamp_int(
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math_state.theta3_deg + zero_offsets.j3,
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limits.j3_min,
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limits.j3_max,
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"J3(cmd)",
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),
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j4=clamp_int(
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math_state.theta4_deg + zero_offsets.j4,
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limits.j4_min,
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limits.j4_max,
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"J4(cmd)",
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),
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j5=clamp_int(j5, limits.joint_min, limits.joint_max, "J5"),
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j6=clamp_int(j6, limits.joint_min, limits.joint_max, "J6"),
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)
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def load_cached_command_state(limits: ArmLimits) -> ArmJointState | None:
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if not STATE_FILE.exists():
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return None
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try:
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payload = json.loads(STATE_FILE.read_text(encoding="utf-8"))
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return ArmJointState(
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height=clamp_int(payload["height"], limits.height_min, limits.height_max, "height(cmd)"),
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j2=clamp_int(payload["j2"], limits.j2_min, limits.j2_max, "J2"),
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j3=clamp_int(payload["j3"], limits.j3_min, limits.j3_max, "J3"),
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j4=clamp_int(payload["j4"], limits.j4_min, limits.j4_max, "J4"),
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j5=clamp_int(payload.get("j5", DEFAULT_FIXED_J5), limits.joint_min, limits.joint_max, "J5"),
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j6=clamp_int(payload.get("j6", DEFAULT_FIXED_J6), limits.joint_min, limits.joint_max, "J6"),
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)
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except (OSError, json.JSONDecodeError, KeyError, TypeError, ArmControlError):
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return None
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def save_cached_command_state(state: ArmJointState) -> None:
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STATE_FILE.write_text(
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json.dumps(
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{
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"height": state.height,
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"j2": state.j2,
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"j3": state.j3,
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"j4": state.j4,
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"j5": state.j5,
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"j6": state.j6,
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},
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ensure_ascii=True,
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indent=2,
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),
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encoding="utf-8",
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)
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def resolve_start_command_state(
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limits: ArmLimits,
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use_state_cache: bool,
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) -> ArmJointState:
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if use_state_cache:
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cached_state = load_cached_command_state(limits)
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if cached_state is not None:
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return cached_state
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return default_command_state()
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def interpolate_command_states(
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start: ArmJointState,
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end: ArmJointState,
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steps: int,
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) -> list[ArmJointState]:
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if steps <= 1:
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return [end]
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states: list[ArmJointState] = []
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for step_index in range(1, steps + 1):
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t = step_index / steps
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states.append(
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ArmJointState(
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height=int(round(lerp(start.height, end.height, t))),
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j2=int(round(lerp(start.j2, end.j2, t))),
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j3=int(round(lerp(start.j3, end.j3, t))),
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j4=int(round(lerp(start.j4, end.j4, t))),
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j5=int(round(lerp(start.j5, end.j5, t))),
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j6=int(round(lerp(start.j6, end.j6, t))),
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)
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)
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return states
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def interpolate_pose(
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start: ArmPose,
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end: ArmPose,
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t: float,
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) -> ArmPose:
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return ArmPose(
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x=lerp(start.x, end.x, t),
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y=lerp(start.y, end.y, t),
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z=lerp(start.z, end.z, t),
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phi_deg=lerp_angle_deg(start.phi_deg, end.phi_deg, t),
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)
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def build_pose_command_path(
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start_pose: ArmPose,
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target_pose: ArmPose,
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steps: int,
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geometry: ArmGeometry,
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limits: ArmLimits,
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zero_offsets: ArmZeroOffsets,
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elbow_up: bool,
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j5: int,
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j6: int,
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) -> list[ArmJointState]:
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if steps <= 1:
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math_state = inverse_kinematics(
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geometry=geometry,
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pose=target_pose,
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limits=limits,
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elbow_up=elbow_up,
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j5=j5,
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j6=j6,
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)
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return [math_to_command_state(math_state, zero_offsets, limits, j5, j6)]
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# Interpolate pose first (movement)
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path: list[ArmJointState] = []
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start_command_j5 = None
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start_command_j6 = None
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for step_index in range(1, steps + 1):
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t = step_index / steps
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pose = interpolate_pose(start_pose, target_pose, t)
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math_state = inverse_kinematics(
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geometry=geometry,
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pose=pose,
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limits=limits,
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elbow_up=elbow_up,
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j5=j5,
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j6=j6,
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)
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command = math_to_command_state(math_state, zero_offsets, limits, j5, j6)
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# Store the first command's j5/j6 values
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if start_command_j5 is None:
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start_command_j5 = command.j5
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start_command_j6 = command.j6
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# For all movement steps, use the starting j5/j6 values
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path.append(ArmJointState(
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height=command.height,
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j2=command.j2,
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j3=command.j3,
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j4=command.j4,
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j5=start_command_j5,
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j6=start_command_j6,
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))
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# Add final grip/release adjustment if j5 or j6 changed
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final = path[-1]
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if final.j5 != j5 or final.j6 != j6:
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path.append(ArmJointState(
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height=final.height,
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j2=final.j2,
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j3=final.j3,
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j4=final.j4,
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j5=j5,
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j6=j6,
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))
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return path
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def compute_interpolation_steps(duration: float, rate: float) -> int:
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if duration <= 0.0 or rate <= 0.0:
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return 1
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return max(1, int(math.ceil(duration * rate)))
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def send_udp_commands(
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ip: str,
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port: int,
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states: list[ArmJointState],
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dry_run: bool,
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duration: float,
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) -> None:
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if not states:
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return
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delay = duration / len(states) if len(states) > 1 and duration > 0.0 else 0.0
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if dry_run:
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for state in states:
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print(state.to_udp_message().decode("utf-8").strip())
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return
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with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock:
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for index, state in enumerate(states):
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sock.sendto(state.to_udp_message(), (ip, port))
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if delay > 0.0 and index < len(states) - 1:
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time.sleep(delay)
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def build_parser() -> argparse.ArgumentParser:
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parser = argparse.ArgumentParser(
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description="CRAIC 机械臂 UDP 控制程序"
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)
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parser.add_argument("--ip", default=DEFAULT_UDP_IP, help="目标 UDP IP")
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parser.add_argument("--port", type=int, default=DEFAULT_UDP_PORT, help="目标 UDP 端口")
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parser.add_argument(
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"--dry-run",
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action="store_true",
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help="只打印指令，不实际发送 UDP",
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)
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parser.add_argument(
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"--show-fk",
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action="store_true",
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help="输出对应关节角的 TCP 正运动学结果",
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)
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parser.add_argument(
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"--duration",
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type=float,
|
||
default=DEFAULT_INTERP_DURATION,
|
||
help="插值总时长（秒），默认 1.0；设为 0 则直接发送",
|
||
)
|
||
parser.add_argument(
|
||
"--rate",
|
||
type=float,
|
||
default=DEFAULT_INTERP_RATE,
|
||
help="插值发送频率（Hz），默认 20",
|
||
)
|
||
parser.add_argument(
|
||
"--no-state-cache",
|
||
action="store_true",
|
||
help="不读取或更新上次发送的关节命令缓存",
|
||
)
|
||
parser.add_argument(
|
||
"--height-min",
|
||
type=int,
|
||
default=DEFAULT_HEIGHT_MIN,
|
||
help=f"高度下限 (内部 d1 坐标, mm)，默认 {DEFAULT_HEIGHT_MIN}",
|
||
)
|
||
parser.add_argument(
|
||
"--height-max",
|
||
type=int,
|
||
default=DEFAULT_HEIGHT_MAX,
|
||
help=f"高度上限 (内部 d1 坐标, mm)，默认 {DEFAULT_HEIGHT_MAX}",
|
||
)
|
||
parser.add_argument(
|
||
"--joint-min",
|
||
type=int,
|
||
default=DEFAULT_JOINT_MIN,
|
||
help="关节角下限，默认 -180",
|
||
)
|
||
parser.add_argument(
|
||
"--joint-max",
|
||
type=int,
|
||
default=DEFAULT_JOINT_MAX,
|
||
help="关节角上限（J5/J6），默认 180",
|
||
)
|
||
parser.add_argument(
|
||
"--j2-min",
|
||
type=int,
|
||
default=DEFAULT_J2_MIN,
|
||
help=f"J2 下限，默认 {DEFAULT_J2_MIN}",
|
||
)
|
||
parser.add_argument(
|
||
"--j2-max",
|
||
type=int,
|
||
default=DEFAULT_J2_MAX,
|
||
help=f"J2 上限，默认 {DEFAULT_J2_MAX}",
|
||
)
|
||
parser.add_argument(
|
||
"--j3-min",
|
||
type=int,
|
||
default=DEFAULT_J3_MIN,
|
||
help=f"J3 下限，默认 {DEFAULT_J3_MIN}",
|
||
)
|
||
parser.add_argument(
|
||
"--j3-max",
|
||
type=int,
|
||
default=DEFAULT_J3_MAX,
|
||
help=f"J3 上限，默认 {DEFAULT_J3_MAX}",
|
||
)
|
||
parser.add_argument(
|
||
"--j4-min",
|
||
type=int,
|
||
default=DEFAULT_J4_MIN,
|
||
help=f"J4 下限，默认 {DEFAULT_J4_MIN}",
|
||
)
|
||
parser.add_argument(
|
||
"--j4-max",
|
||
type=int,
|
||
default=DEFAULT_J4_MAX,
|
||
help=f"J4 上限，默认 {DEFAULT_J4_MAX}",
|
||
)
|
||
|
||
subparsers = parser.add_subparsers(dest="mode", required=True)
|
||
|
||
joints = subparsers.add_parser("joints", help="直接发送关节角")
|
||
joints.add_argument(
|
||
"--dry-run",
|
||
action="store_true",
|
||
help="只打印指令，不实际发送 UDP",
|
||
)
|
||
joints.add_argument(
|
||
"--show-fk",
|
||
action="store_true",
|
||
help="输出对应关节角的 TCP 正运动学结果",
|
||
)
|
||
joints.add_argument(
|
||
"--duration",
|
||
type=float,
|
||
default=DEFAULT_INTERP_DURATION,
|
||
help="插值总时长（秒），默认 1.0；设为 0 则直接发送",
|
||
)
|
||
joints.add_argument(
|
||
"--rate",
|
||
type=float,
|
||
default=DEFAULT_INTERP_RATE,
|
||
help="插值发送频率（Hz），默认 20",
|
||
)
|
||
joints.add_argument(
|
||
"--no-state-cache",
|
||
action="store_true",
|
||
help="不读取或更新上次发送的关节命令缓存",
|
||
)
|
||
joints.add_argument("--height", type=int, required=True, help="内部 d1 坐标 mm (-290=底部, 0=顶部，z 轴朝上)")
|
||
joints.add_argument("--j2", type=int, required=True, help="UDP 指令里的 J2 命令值")
|
||
joints.add_argument("--j3", type=int, required=True, help="UDP 指令里的 J3 命令值")
|
||
joints.add_argument("--j4", type=int, required=True, help="UDP 指令里的 J4 命令值")
|
||
joints_grip = joints.add_mutually_exclusive_group()
|
||
joints_grip.add_argument("--up", action="store_true", dest="up", default=None, help="夹爪抬起 (J5=-100°)")
|
||
joints_grip.add_argument("--down", action="store_false", dest="up", default=None, help="夹爪放下 (J5=81°)")
|
||
grip_release = joints.add_mutually_exclusive_group()
|
||
grip_release.add_argument("--grip", action="store_true", help=f"抓取（J6={GRIP_ANGLE}°，待填写）")
|
||
grip_release.add_argument("--release", action="store_true", help=f"释放（J6={RELEASE_ANGLE}°，待填写）")
|
||
joints.add_argument("--j6", type=int, default=DEFAULT_FIXED_J6, help="UDP 指令里的 J6 命令值，默认固定 0")
|
||
joints.add_argument("--l1", type=float, default=DEFAULT_L1, help=f"J2 到 J3 的连杆长度 mm (默认 {DEFAULT_L1})")
|
||
joints.add_argument("--l2", type=float, default=DEFAULT_L2, help=f"J3 到 J4 的连杆长度 mm (默认 {DEFAULT_L2})")
|
||
joints.add_argument("--x4", type=float, default=DEFAULT_X4, help=f"J4 到 TCP 的 X 偏移 mm (默认 {DEFAULT_X4})")
|
||
joints.add_argument("--z4", type=float, default=DEFAULT_Z4, help=f"J4 到 TCP 的 Z 偏移 mm (默认 {DEFAULT_Z4})")
|
||
|
||
pose = subparsers.add_parser("pose", help="根据末端位姿逆解后发送")
|
||
pose.add_argument(
|
||
"--dry-run",
|
||
action="store_true",
|
||
help="只打印指令，不实际发送 UDP",
|
||
)
|
||
pose.add_argument(
|
||
"--show-fk",
|
||
action="store_true",
|
||
help="输出对应关节角的 TCP 正运动学结果",
|
||
)
|
||
pose.add_argument(
|
||
"--duration",
|
||
type=float,
|
||
default=DEFAULT_INTERP_DURATION,
|
||
help="插值总时长（秒），默认 1.0；设为 0 则直接发送",
|
||
)
|
||
pose.add_argument(
|
||
"--rate",
|
||
type=float,
|
||
default=DEFAULT_INTERP_RATE,
|
||
help="插值发送频率（Hz），默认 20",
|
||
)
|
||
pose.add_argument(
|
||
"--no-state-cache",
|
||
action="store_true",
|
||
help="不读取或更新上次发送的关节命令缓存",
|
||
)
|
||
pose.add_argument("--x", type=float, required=True, help="TCP X 坐标 mm")
|
||
pose.add_argument("--y", type=float, required=True, help="TCP Y 坐标 mm")
|
||
pose.add_argument("--z", type=float, required=True, help="TCP Z 坐标 mm (-290=底部, 0=顶部, z 轴朝上)")
|
||
pose.add_argument("--phi", type=float, required=True, help="TCP 偏航角，单位度；等于 J2+J3+J4")
|
||
pose.add_argument("--l1", type=float, default=DEFAULT_L1, help=f"J2 到 J3 的连杆长度 mm (默认 {DEFAULT_L1})")
|
||
pose.add_argument("--l2", type=float, default=DEFAULT_L2, help=f"J3 到 J4 的连杆长度 mm (默认 {DEFAULT_L2})")
|
||
pose.add_argument("--x4", type=float, default=DEFAULT_X4, help=f"J4 到 TCP 的 X 偏移 mm (默认 {DEFAULT_X4})")
|
||
pose.add_argument("--z4", type=float, default=DEFAULT_Z4, help=f"J4 到 TCP 的 Z 偏移 mm (默认 {DEFAULT_Z4})")
|
||
pose.add_argument(
|
||
"--elbow-up",
|
||
action="store_true",
|
||
help="使用肘部向上分支，默认使用肘部向下分支",
|
||
)
|
||
pose_grip_release = pose.add_mutually_exclusive_group()
|
||
pose_grip_release.add_argument("--grip", action="store_true", help=f"抓取（J6={GRIP_ANGLE}°，待填写）")
|
||
pose_grip_release.add_argument("--release", action="store_true", help=f"释放（J6={RELEASE_ANGLE}°，待填写）")
|
||
pose_grip = pose.add_mutually_exclusive_group()
|
||
pose_grip.add_argument("--up", action="store_true", dest="up", default=None, help="夹爪抬起 (J5=-100°)，覆盖 z 自动判断")
|
||
pose_grip.add_argument("--down", action="store_false", dest="up", default=None, help="夹爪放下 (J5=81°)，覆盖 z 自动判断")
|
||
pose.add_argument("--j6", type=int, default=DEFAULT_FIXED_J6, help="附加发送的 J6 命令值，默认固定 0")
|
||
|
||
return parser
|
||
|
||
|
||
def geometry_from_args(args: argparse.Namespace, z4: float | None = None) -> ArmGeometry:
|
||
return ArmGeometry(
|
||
l1=float(args.l1),
|
||
l2=float(args.l2),
|
||
x4=float(args.x4),
|
||
z4=float(args.z4) if z4 is None else z4,
|
||
)
|
||
|
||
|
||
def limits_from_args(args: argparse.Namespace) -> ArmLimits:
|
||
if args.height_min > args.height_max:
|
||
raise ArmControlError("height-min 不能大于 height-max。")
|
||
if args.joint_min > args.joint_max:
|
||
raise ArmControlError("joint-min 不能大于 joint-max。")
|
||
if args.j2_min > args.j2_max:
|
||
raise ArmControlError("j2-min 不能大于 j2-max。")
|
||
if args.j3_min > args.j3_max:
|
||
raise ArmControlError("j3-min 不能大于 j3-max。")
|
||
if args.j4_min > args.j4_max:
|
||
raise ArmControlError("j4-min 不能大于 j4-max。")
|
||
return ArmLimits(
|
||
height_min=args.height_min,
|
||
height_max=args.height_max,
|
||
joint_min=args.joint_min,
|
||
joint_max=args.joint_max,
|
||
j2_min=args.j2_min,
|
||
j2_max=args.j2_max,
|
||
j3_min=args.j3_min,
|
||
j3_max=args.j3_max,
|
||
j4_min=args.j4_min,
|
||
j4_max=args.j4_max,
|
||
)
|
||
|
||
|
||
def resolve_j5(up: bool) -> int:
|
||
return J5_CLOSED if up else J5_OPEN
|
||
|
||
|
||
def resolve_z4(up: bool) -> float:
|
||
return Z4_CLOSED if up else Z4_OPEN
|
||
|
||
|
||
def resolve_gripper_from_z(z: float) -> bool:
|
||
"""Auto-select gripper state based on TCP z coordinate (user mm, z-up).
|
||
|
||
- z in [-345, -55] -> down (gripper open, J5=81, Z4=55)
|
||
- z in [-190, 110] -> up (gripper closed, J5=-100, Z4=-100)
|
||
- Overlap [-190, -55] -> down (prefer down in intersection)
|
||
"""
|
||
return z > -55 # True = up, False = down
|
||
|
||
|
||
def resolve_j6(grip: bool, release: bool, fallback: int) -> int:
|
||
if grip:
|
||
return GRIP_ANGLE
|
||
if release:
|
||
return RELEASE_ANGLE
|
||
return fallback
|
||
|
||
|
||
def state_from_joint_args(args: argparse.Namespace, limits: ArmLimits) -> ArmJointState:
|
||
up = args.up if args.up is not None else False
|
||
return ArmJointState(
|
||
height=clamp_int(args.height, limits.height_min, limits.height_max, "height(cmd)"),
|
||
j2=clamp_int(args.j2, limits.j2_min, limits.j2_max, "J2"),
|
||
j3=clamp_int(args.j3, limits.j3_min, limits.j3_max, "J3"),
|
||
j4=clamp_int(args.j4, limits.j4_min, limits.j4_max, "J4"),
|
||
j5=clamp_int(resolve_j5(up), limits.joint_min, limits.joint_max, "J5"),
|
||
j6=clamp_int(resolve_j6(args.grip, args.release, args.j6), limits.joint_min, limits.joint_max, "J6"),
|
||
)
|
||
|
||
|
||
def print_joint_summary(state: ArmJointState) -> None:
|
||
print(
|
||
"UDP command joints:",
|
||
f"height={state.height}mm",
|
||
f"J2={state.j2}",
|
||
f"J3={state.j3}",
|
||
f"J4={state.j4}",
|
||
f"J5={state.j5}",
|
||
f"J6={state.j6}",
|
||
)
|
||
|
||
|
||
def print_pose_summary(pose: ArmPose) -> None:
|
||
print(
|
||
"TCP pose:",
|
||
f"x={pose.x:.3f}mm",
|
||
f"y={pose.y:.3f}mm",
|
||
f"z={pose.z:.3f}mm",
|
||
f"phi={pose.phi_deg:.3f}deg",
|
||
)
|
||
|
||
|
||
def print_joint4_center_summary(center: Joint4Center) -> None:
|
||
print(
|
||
"J4 center:",
|
||
f"x={center.x:.3f}mm",
|
||
f"y={center.y:.3f}mm",
|
||
f"z={center.z:.3f}mm",
|
||
)
|
||
|
||
|
||
def print_math_summary(state: ArmMathState) -> None:
|
||
print(
|
||
"Math joints:",
|
||
f"d1={state.d1:.3f}mm",
|
||
f"J2={state.theta2_deg:.3f}",
|
||
f"J3={state.theta3_deg:.3f}",
|
||
f"J4={state.theta4_deg:.3f}",
|
||
)
|
||
|
||
|
||
def print_interpolation_summary(
|
||
duration: float,
|
||
rate: float,
|
||
steps: int,
|
||
use_state_cache: bool,
|
||
) -> None:
|
||
cache_mode = "on" if use_state_cache else "off"
|
||
print(
|
||
"Interpolation:",
|
||
f"duration={duration:.3f}s",
|
||
f"rate={rate:.3f}Hz",
|
||
f"steps={steps}",
|
||
f"state_cache={cache_mode}",
|
||
)
|
||
|
||
|
||
def main() -> int:
|
||
parser = build_parser()
|
||
args = parser.parse_args()
|
||
|
||
try:
|
||
limits = limits_from_args(args)
|
||
zero_offsets = ArmZeroOffsets()
|
||
use_state_cache = not args.no_state_cache
|
||
steps = compute_interpolation_steps(args.duration, args.rate)
|
||
print_interpolation_summary(args.duration, args.rate, steps, use_state_cache)
|
||
|
||
if args.mode == "joints":
|
||
start_command_state = resolve_start_command_state(limits, use_state_cache)
|
||
command_state = state_from_joint_args(args, limits)
|
||
math_state = command_to_math_state(command_state, zero_offsets)
|
||
start_math_state = command_to_math_state(start_command_state, zero_offsets)
|
||
command_path = interpolate_command_states(start_command_state, command_state, steps)
|
||
print("Start state source:", "cache/default")
|
||
print_joint_summary(start_command_state)
|
||
print_math_summary(start_math_state)
|
||
print_joint_summary(command_state)
|
||
print_math_summary(math_state)
|
||
|
||
if args.show_fk:
|
||
up = args.up if args.up is not None else False
|
||
z4 = resolve_z4(up)
|
||
start_pose = forward_kinematics(
|
||
geometry_from_args(args, z4=z4), start_math_state,
|
||
)
|
||
print("Start FK:")
|
||
print_pose_summary(start_pose)
|
||
pose = forward_kinematics(
|
||
geometry_from_args(args, z4=z4), math_state,
|
||
)
|
||
print_pose_summary(pose)
|
||
|
||
elif args.mode == "pose":
|
||
if args.up is not None:
|
||
auto_up = args.up
|
||
else:
|
||
auto_up = resolve_gripper_from_z(args.z)
|
||
z4 = resolve_z4(auto_up)
|
||
geometry = geometry_from_args(args, z4=z4)
|
||
j5 = resolve_j5(auto_up)
|
||
j6 = resolve_j6(args.grip, args.release, args.j6)
|
||
start_command_state = resolve_start_command_state(limits, use_state_cache)
|
||
start_math_state = command_to_math_state(start_command_state, zero_offsets)
|
||
start_pose = forward_kinematics(geometry, start_math_state)
|
||
target_pose = ArmPose(
|
||
x=args.x,
|
||
y=args.y,
|
||
z=args.z,
|
||
phi_deg=args.phi,
|
||
)
|
||
joint4_center = tcp_to_joint4_center(geometry, target_pose)
|
||
math_state = inverse_kinematics(
|
||
geometry=geometry,
|
||
pose=target_pose,
|
||
limits=limits,
|
||
elbow_up=args.elbow_up,
|
||
j5=j5,
|
||
j6=j6,
|
||
)
|
||
command_state = math_to_command_state(
|
||
math_state,
|
||
zero_offsets,
|
||
limits,
|
||
j5=j5,
|
||
j6=j6,
|
||
)
|
||
command_path = interpolate_command_states(start_command_state, command_state, steps)
|
||
print("Start state source:", "cache/default")
|
||
print_joint_summary(start_command_state)
|
||
print_math_summary(start_math_state)
|
||
print("Start FK:")
|
||
print_pose_summary(start_pose)
|
||
print_pose_summary(target_pose)
|
||
print_joint4_center_summary(joint4_center)
|
||
print_math_summary(math_state)
|
||
print_joint_summary(command_state)
|
||
|
||
if args.show_fk:
|
||
solved_pose = forward_kinematics(geometry, math_state)
|
||
print("Solved FK check:")
|
||
print_pose_summary(solved_pose)
|
||
|
||
else:
|
||
raise ArmControlError(f"未知模式: {args.mode}")
|
||
|
||
final_payload = command_state.to_udp_message()
|
||
print("Final UDP payload:", final_payload.decode("utf-8").strip())
|
||
send_udp_commands(args.ip, args.port, command_path, args.dry_run, args.duration)
|
||
if use_state_cache and not args.dry_run:
|
||
save_cached_command_state(command_state)
|
||
if not args.dry_run:
|
||
print(f"Sent to {args.ip}:{args.port}")
|
||
return 0
|
||
|
||
except ArmControlError as exc:
|
||
print(f"错误: {exc}", file=sys.stderr)
|
||
return 2
|
||
|
||
|
||
if __name__ == "__main__":
|
||
raise SystemExit(main())
|