File size: 3,118 Bytes
ef2a612 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 | #!/usr/bin/env python3
"""评测启动前准备：movej 到录制就绪位 + 夹爪张开到 1.0。
须在 play_action / record_state / robot_client 未运行时调用（避免抢 SDK / 抢运动）。
"""
from __future__ import annotations
import argparse
import sys
import time
from pathlib import Path
SCRIPT_DIR = Path(__file__).resolve().parent
ROOT = SCRIPT_DIR.parent
sys.path.insert(0, str(SCRIPT_DIR))
sys.path.insert(0, str(ROOT))
sys.path.insert(0, str(ROOT / "vendor"))
from rm65_ready import load_ready_joints_deg, movej_ready # noqa: E402
def open_gripper(ip: str, port: int, norm: float = 1.0) -> None:
from sendrobot.send_robot.dahuan_gripper import DahuanGripperModbus
from sendrobot.send_robot.rm_ik import RM65Kinematics
class _Log:
def info(self, msg: str) -> None:
print(msg)
def warning(self, msg: str) -> None:
print(f"警告: {msg}", file=sys.stderr)
kin = RM65Kinematics(ip=ip, port=port)
kin.connect()
try:
grip = DahuanGripperModbus(kin.robot)
grip.setup(_Log())
ok, hw = grip.set_position_normalized(float(norm), min_delta=0.0)
if not ok:
raise RuntimeError(f"夹爪写入失败 norm={norm}")
print(f"夹爪已命令张开 norm={norm} hw={hw}")
time.sleep(1.0)
# 供后续 record_state / SendRobot 对齐：写入环境变量文件不现实，
# 这里打印明确约定，eval 脚本会 export RM65_INITIAL_GRIPPER_POS
print(f"RM65_INITIAL_GRIPPER_POS={float(norm)}")
finally:
kin.disconnect()
time.sleep(0.3)
def main() -> int:
p = argparse.ArgumentParser(description="Eval prep: ready pose + open gripper")
p.add_argument("--ip", default="192.168.73.18")
p.add_argument("--port", type=int, default=8080)
p.add_argument("--speed", type=int, default=5, help="movej speed")
p.add_argument("--gripper-norm", type=float, default=1.0, help="1=开 0=合")
p.add_argument("--pose", type=Path, default=None, help="关节 json，默认录制就绪位")
p.add_argument("--skip-ready", action="store_true")
p.add_argument("--skip-gripper", action="store_true")
args = p.parse_args()
joints = load_ready_joints_deg(args.pose)
pose_name = args.pose.name if args.pose is not None else "rm65_ready_pose.json"
print(f"就绪位目标 ({pose_name}): {[round(q, 2) for q in joints]}")
if not args.skip_ready:
print(f">>> movej → 就绪位 (speed={args.speed})")
import rclpy
rclpy.init()
try:
movej_ready(speed=args.speed, joints_deg=joints, pose_path=args.pose)
finally:
if rclpy.ok():
rclpy.shutdown()
print("就绪位完成")
else:
print("跳过就绪位")
if not args.skip_gripper:
print(f">>> 打开夹爪 norm={args.gripper_norm}")
open_gripper(args.ip, args.port, args.gripper_norm)
else:
print("跳过夹爪")
print("prep 完成，可启动推理栈")
return 0
if __name__ == "__main__":
raise SystemExit(main())
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