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@ -74,12 +74,15 @@ class DexHandClient:
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print(f"获取灵巧手状态失败: {e}")
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return CMVRErrorCode.CMVR_RPC_FAILED, DexHandState()
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def set_angle(self, angle_map: Dict[int, float]) -> CMVRErrorCode:
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def set_angle(self, angle_map: Dict[str, float]) -> CMVRErrorCode:
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"""
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设置DexHand的角度
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参数:
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angle_map: 字典，键为自由度ID (0-6)，值为角度百分比 (0-1)
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angle_map: 字典，键为自由度ID（字符串），值为角度百分比 (0-1)
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有效字符串ID："little_finger"（小拇指）、"ring_finger"（无名指）、
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"middle_finger"（中指）、"index_finger"（食指）、
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"thumb_bend"（大拇指弯曲）、"thumb_rotate"（大拇指旋转）
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对应proto中的FreedomValue (id和value)
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返回:
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@ -87,22 +90,28 @@ class DexHandClient:
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"""
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try:
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generated = self._import_generated()
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# 有效自由度字符串ID列表（与proto定义一致）
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valid_dof_ids = {
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"little_finger", "ring_finger", "middle_finger",
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"index_finger", "thumb_bend", "thumb_rotate"
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}
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# 创建角度设置请求对象
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request = generated.dexhand_command_pb2.SetDexHandAnglesCommand.Request()
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request.header.CopyFrom(self._create_command_header())
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# 将字典转换为protobuf的FreedomValue列表
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for dof_id, angle_value in angle_map.items():
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# 验证输入有效性
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if not (0 <= dof_id <= 6):
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print(f"警告: 无效的自由度ID {dof_id}，必须在0-6范围内")
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# 验证自由度ID有效性（字符串）
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if dof_id not in valid_dof_ids:
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print(f"警告: 无效的自由度ID '{dof_id}'，有效ID为：{valid_dof_ids}")
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continue
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# 验证角度值范围（0-1）
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if not (0 <= angle_value <= 1):
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print(f"警告: 角度值 {angle_value} 超出范围，必须在0-1之间")
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# 可选：将值限制在有效范围内
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angle_value = max(0, min(1, angle_value))
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angle_value = max(0, min(1, angle_value)) # 限制在有效范围
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# 添加自由度角度设置
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# 添加自由度角度设置（直接使用字符串ID）
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freedom_value = request.values.add()
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freedom_value.id = dof_id
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freedom_value.value = angle_value
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@ -43,7 +43,7 @@ class CameraIntrinsics:
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@dataclass
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class FreedomState:
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"""灵巧手自由度状态"""
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dof_id: int = 0
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dof_id: str = ""
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angle: int = 0
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speed: int = 0
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force: int = 0
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105
example_usage.py
105
example_usage.py
@ -313,7 +313,7 @@ def test_dexhand():
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print("=== 测试DexHand功能 ===")
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# 初始化GRPC客户端（使用实际服务器地址）
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client = CMVRGrpcClient("192.168.1.222:50060")
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client = CMVRGrpcClient("192.168.0.222:50052")
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if not client.is_connected():
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print("连接服务器失败")
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return
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@ -325,21 +325,35 @@ def test_dexhand():
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client.close()
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return
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# 定义：字符串ID与手指名称的映射（与proto/服务端一致）
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dof_id_to_name = {
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"little_finger": "小拇指",
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"ring_finger": "无名指",
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"middle_finger": "中指",
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"index_finger": "食指",
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"thumb_bend": "大拇指弯曲",
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"thumb_rotate": "大拇指旋转"
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}
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# 有效字符串ID列表（用于后续判断）
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valid_dof_ids = set(dof_id_to_name.keys())
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# 1. 获取初始状态
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print("\n--- 获取初始状态 ---")
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error_code, state = dexhand.get_status()
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if error_code == CMVRErrorCode.CMVR_SUCCESS:
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print(f"初始化状态: 已初始化={state.is_initialized}")
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print("各自由度状态:")
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for hand in state.hands:
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print(f" 自由度ID: {hand.dof_id}, 角度: {hand.angle}, 速度: {hand.speed}, "
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f"受力: {hand.force}, 位置: {hand.position}, 温度: {hand.temperature}°C")
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if hand.error != 0:
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print(f" 警告: 自由度ID {hand.dof_id} 存在故障: {hand.error_message}")
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else:
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print(f"获取初始状态失败，错误码: {error_code}")
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client.close()
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return
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# print("\n--- 获取初始状态 ---")
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# error_code, state = dexhand.get_status()
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# if error_code == CMVRErrorCode.CMVR_SUCCESS:
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# print(f"初始化状态: 已初始化={state.is_initialized}")
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# print("各自由度状态:")
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# for hand in state.hands:
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# # 匹配字符串ID对应的手指名称，未知ID显示原始值
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# finger_name = dof_id_to_name.get(hand.dof_id, f"未知自由度({hand.dof_id})")
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# print(f" {finger_name} (ID:{hand.dof_id}): 角度={hand.angle}, 速度={hand.speed}, "
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# f"受力={hand.force}, 位置={hand.position}, 温度={hand.temperature}°C")
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# if hand.error != 0:
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# print(f" 警告: {finger_name} 存在故障: {hand.error_message}")
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# else:
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# print(f"获取初始状态失败，错误码: {error_code}")
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# client.close()
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# return
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# 1.1 获取初始传感器数据
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print("\n--- 获取初始传感器数据 ---")
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@ -353,34 +367,25 @@ def test_dexhand():
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else:
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print(f"获取初始传感器数据失败，错误码: {error_code}")
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# 2. 设置测试角度（小拇指、食指、大拇指弯曲）
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# 2. 设置测试角度（小拇指、食指、大拇指弯曲等）
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print("\n--- 设置测试角度 ---")
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# 角度字典: 键为自由度ID (0-6)，值为0-1百分比
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# 角度字典: 键为字符串类型自由度ID，值为0-1百分比（与set_angle函数参数要求一致）
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test_angles = {
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0: 0.9, # 小拇指
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1: 0.9, # 无名指
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2: 0.9, # 中指
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3: 0.9, # 食指
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4: 0.9, # 大拇指弯曲
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5: 0.9 # 大拇指旋转
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"little_finger": 0.9, # 小拇指
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"ring_finger": 0.9, # 无名指
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"middle_finger": 0.9, # 中指
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"index_finger": 0.9, # 食指
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"thumb_bend": 0.9, # 大拇指弯曲
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"thumb_rotate": 0.9 # 大拇指旋转
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}
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# 打印设置信息（映射自由度ID到手指名称）
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finger_map = {
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0: "小拇指",
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1: "无名指",
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2: "中指",
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3: "食指",
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4: "大拇指弯曲",
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5: "大拇指旋转",
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6: "预留自由度"
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}
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# 打印设置信息（通过映射表显示中文名称）
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print("准备设置角度:")
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for dof_id, value in test_angles.items():
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finger_name = finger_map.get(dof_id, f"自由度{dof_id}")
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finger_name = dof_id_to_name[dof_id] # 已确保ID有效，直接获取名称
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print(f" {finger_name} (ID:{dof_id}): {value*100}%")
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# 执行角度设置
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# 执行角度设置（直接传入字符串ID的字典）
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set_result = dexhand.set_angle(test_angles)
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if set_result == CMVRErrorCode.CMVR_SUCCESS:
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print("角度设置命令发送成功，等待执行器动作...")
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@ -402,7 +407,7 @@ def test_dexhand():
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print(f" 食指指腹平均压力变化: {avg_before:.2f} → {avg_after:.2f}")
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# 打印大拇指指端数据示例（前3个值）
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if sensors_after.thumb_tip.data.size > 0:
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if hasattr(sensors_after, 'thumb_tip') and sensors_after.thumb_tip.data.size > 0:
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print(f" 大拇指指端部分数据: {sensors_after.thumb_tip.data.flatten()[:3]}...")
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else:
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print(f"获取角度变化后传感器数据失败，错误码: {error_code}")
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@ -411,23 +416,25 @@ def test_dexhand():
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print("\n--- 获取设置后状态 ---")
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error_code, state = dexhand.get_status()
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if error_code == CMVRErrorCode.CMVR_SUCCESS:
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print("设置后各自由度状态:")
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print("设置后各自由度状态（仅显示已设置的自由度）:")
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for hand in state.hands:
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# 只打印我们设置过的自由度
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# 只打印我们设置过的自由度（字符串ID对比）
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if hand.dof_id in test_angles:
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print(f" 自由度ID: {hand.dof_id}, 新角度: {hand.angle}, 当前位置: {hand.position}")
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finger_name = dof_id_to_name[hand.dof_id]
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print(f" {finger_name} (ID:{hand.dof_id}): 新角度={hand.angle}, 当前位置={hand.position}")
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else:
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print(f"获取设置后状态失败，错误码: {error_code}")
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# 4. 恢复默认角度（复位操作）
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print("\n--- 恢复默认角度 ---")
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# 复位字典：键为字符串ID，值为默认百分比
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default_angles = {
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0: 0.1,
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1: 0.1,
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2: 0.1,
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3: 0.1,
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4: 0.1,
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5: 0.8
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"little_finger": 0.1,
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"ring_finger": 0.1,
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"middle_finger": 0.1,
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"index_finger": 0.1,
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"thumb_bend": 0.1,
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"thumb_rotate": 0.8
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}
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set_result = dexhand.set_angle(default_angles)
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@ -456,10 +463,12 @@ def test_dexhand():
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if error_code == CMVRErrorCode.CMVR_SUCCESS:
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print(f"最终初始化状态: {state.is_initialized}")
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print("关键自由度最终位置:")
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# 遍历需要确认的自由度（字符串ID）
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for dof_id in test_angles.keys():
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for hand in state.hands:
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if hand.dof_id == dof_id:
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print(f" 自由度ID {dof_id}: 角度={hand.angle}, 位置={hand.position}")
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finger_name = dof_id_to_name[dof_id]
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print(f" {finger_name} (ID:{dof_id}): 角度={hand.angle}, 位置={hand.position}")
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else:
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print(f"获取最终状态失败，错误码: {error_code}")
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@ -863,8 +872,8 @@ if __name__ == "__main__":
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# test_biohead()
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# test_camera()
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# test_rgb_image_stream()
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# test_dexhand()
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test_dexhand()
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# test_sensor_data_stream()
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# test_speaker()
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# test_microphone()
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test_humanoid_robot()
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# test_humanoid_robot()
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