movefasta/aubo-old-sdk-test
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fixes float32->float64; poses for insert

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Falloimitator 2025-05-23 19:56:28 +03:00
parent 26c883eacb
commit 2165c48415
2 changed files with 55 additions and 26 deletions
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39
main.py
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@ -6,28 +6,28 @@ PORT = 9090
config = { config = {
"pre_grasp_position": { "pre_grasp_position": {
'pos': [0.14726859839859208, 0.5302551637478977, 0.565792932407347], 'pos': [0.11468976722774939, 0.49820734702047975, 0.232304304821942],
'ori': [0.1305294928324298, -0.34660161091966263, 0.8293216816453197, 0.4183956538514503] 'ori': [0.03139065917169165, 0.007114594087226847, 0.7337638657217594, 0.6786417305388762]
}, },
"grasp_position": { "grasp_position": {
'pos': [0.15928907070579643, 0.5270829242433969, 0.6510703359003733], 'pos': [0.10651987287035074, 0.4918349678759202, 0.12068363327771679],
'ori': [0.15023706706737835, -0.32373703396446113, 0.8482916258752815, 0.39118342754871005] 'ori': [0.0461769536371005, 0.019808331049769666, 0.7271651527969424, 0.68462117958154]
}, },
"post_grasp_position": { "post_grasp_position": {
'pos': [0.08296640360052251, 0.5270826520836475, 0.4622718470958212], 'pos': [0.10584392070929988, 0.4941985576613782, 0.1688168818859202],
'ori': [0.15024595915643826, -0.3237308590654784, 0.8482945564918141, 0.3911787674097941] 'ori': [0.04549168126833617, 0.01984700639803424, 0.7237928131621344, 0.6882300246917887]
}, },
"pre_insert_position": { "pre_insert_position": {
'pos': [0.08296640360052251, 0.5270826520836475, 0.4622718470958212], 'pos': [0.24027684741261485, 0.49126338168373945, 0.39655250532732794],
'ori': [0.15024595915643826, -0.3237308590654784, 0.8482945564918141, 0.3911787674097941] 'ori': [0.1964966354829754, -0.025599877633873055, 0.6813871431453161, 0.7045887308673521]
}, },
"insert_position": { "insert_position": {
"pos": [0.6, 0.0, 0.2], 'pos': [0.27300632591107804, 0.48041141969089585, 0.3049992290184565],
"ori_offset": [10, -5, 0], 'ori': [0.17245191209515515, 6.719202049935031e-05, 0.7033203128819105, 0.689638217464526]
}, },
"post_insert_position": { "post_insert_position": {
"pos": [0.6, 0.0, 0.2], 'pos': [0.2904632222294866, 0.4869030095129388, 0.1625443919495984],
"ori_offset": [10, -5, 0], 'ori': [0.20018806753589566, 0.023937708375556675, 0.688796013797962, 0.6963560691988031]
}, },
} }
@ -37,10 +37,17 @@ def main():
#robot.set_joint_maxvelc(3) #robot.set_joint_maxvelc(3)
#robot.set_end_max_line_velc(0.6) #robot.set_end_max_line_velc(0.6)
robot.set_end_max_line_acc(0.8) robot.set_end_max_line_acc(0.8)
robot.move_linear_cartesian(config["pre_grasp_position"])
# robot.move_to_pose(config["pre_grasp_position"]) robot.move_to_pose_joint(config["pre_grasp_position"])
# robot.move_to_pose(config["grasp_position"]) robot.move_to_pose_cart(config["grasp_position"])
# robot.move_to_pose(config["post_grasp_position"]) robot.move_to_pose_joint(config["post_grasp_position"])
robot.move_to_pose_joint(config["pre_insert_position"])
robot.move_to_pose_cart(config["insert_position"])
robot.move_to_pose_cart(config["post_insert_position"])
robot.move_to_pose_cart(config["insert_position"])
robot.move_to_pose_joint(config["pre_insert_position"])
robot.close() robot.close()

42
node.py
View file

@ -2,7 +2,7 @@
import rclpy import rclpy
from rclpy.node import Node from rclpy.node import Node
from std_msgs.msg import Float32MultiArray from std_msgs.msg import Float64MultiArray
from sensor_msgs.msg import JointState from sensor_msgs.msg import JointState
from utils import RobotClient from utils import RobotClient
import time import time
@ -14,7 +14,7 @@ class RobotControllerNode(Node):
super().__init__("robot_controller_node") super().__init__("robot_controller_node")
self.pub = self.create_publisher( self.pub = self.create_publisher(
Float32MultiArray, "/forward_position_controller/commands", 10 Float64MultiArray, "/forward_position_controller/commands", 10
) )
self.js_sub = self.create_subscription( self.js_sub = self.create_subscription(
JointState, "/joint_states", self.js_callback, 10 JointState, "/joint_states", self.js_callback, 10
@ -39,7 +39,7 @@ class RobotControllerNode(Node):
self.last_js = msg self.last_js = msg
def send_gripper_command(self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0): def send_gripper_command(self, target_pose: float, tolerance: float = 0.01, timeout: float = 3.0):
msg = Float32MultiArray() msg = Float64MultiArray()
msg.data = [target_pose] msg.data = [target_pose]
self.pub.publish(msg) self.pub.publish(msg)
self.get_logger().info(f"Sent gripper pose: {target_pose}") self.get_logger().info(f"Sent gripper pose: {target_pose}")
@ -71,6 +71,7 @@ class RobotControllerNode(Node):
return False return False
def run_sequence(self): def run_sequence(self):
print(f"STEP #{self.sequence_step}")
if self.sequence_step == 0: if self.sequence_step == 0:
self.get_logger().info("Moving to pre-grasp") self.get_logger().info("Moving to pre-grasp")
self.robot_client.move_to_pose_joint(config["pre_grasp_position"]) self.robot_client.move_to_pose_joint(config["pre_grasp_position"])
@ -81,19 +82,40 @@ class RobotControllerNode(Node):
self.robot_client.move_to_pose_cart(config["grasp_position"]) self.robot_client.move_to_pose_cart(config["grasp_position"])
self.sequence_step += 1 self.sequence_step += 1
elif self.sequence_step == 3: elif self.sequence_step == 2:
if self.send_gripper_command(target_pose=1.0, timeout=10.0): if self.send_gripper_command(target_pose=0.582, timeout=10.0, tolerance=0.1):
self.get_logger().info("Gripper closed")
self.sequence_step += 1
elif self.sequence_step == 3:
self.get_logger().info("Moving to post-grasp")
self.robot_client.move_to_pose_cart(config["post_grasp_position"])
self.sequence_step += 1
elif self.sequence_step == 4:
self.get_logger().info("Moving to pre_insert_position")
self.robot_client.move_to_pose_cart(config["pre_insert_position"])
self.sequence_step += 1
elif self.sequence_step == 5:
self.get_logger().info("Moving to insert_position")
self.robot_client.move_to_pose_joint(config["insert_position"])
self.sequence_step += 1
elif self.sequence_step == 6:
self.get_logger().info("Moving to post_insert_position")
self.robot_client.move_to_pose_joint(config["post_insert_position"])
self.sequence_step += 1
elif self.sequence_step == 7:
if self.send_gripper_command(target_pose=0.54, timeout=10.0):
self.get_logger().info("Gripper closed") self.get_logger().info("Gripper closed")
self.sequence_step += 1 self.sequence_step += 1
# elif self.sequence_step == 3:
# self.get_logger().info("Moving to post-grasp")
# self.robot_client.move_to_pose_cart(config["post_grasp_position"])
# self.sequence_step += 1
# #
# ... и так далее для остальных шагов # ... и так далее для остальных шагов
elif self.sequence_step >= 3: # Измените на последний шаг + 1 elif self.sequence_step >= 8: # Измените на последний шаг + 1
self.get_logger().info("Sequence complete") self.get_logger().info("Sequence complete")
self.robot_client.close() self.robot_client.close()
self.destroy_timer(self.timer) self.destroy_timer(self.timer)