| |
| """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 |
|
|
|
|
| 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) |
| |
| |
| 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()) |
|
|
