#!/usr/bin/env python3 import sys import os import time import random import grpc # 新增grpc导入 import cv2 from typing import Generator # 新增Generator类型导入 import numpy as np # 确保导入numpy（传感器数据处理需要） # 添加项目根目录到 Python 路径 sys.path.insert(0, os.path.dirname(os.path.abspath(__file__))) # 直接导入生成的模块 from generated.cmvr.api import biohead_command_pb2 from cmvr import CMVRGrpcClient, CMVRErrorCode, FacialExpressionState,JointCmd, Pose3D,RobotCartesian, RobotJointIndexDirection def test_biohead(): """测试仿生头功能""" print("=== 测试仿生头功能 ===") # 初始化客户端 client = CMVRGrpcClient("192.168.1.222:50051") if not client.is_connected(): print("连接服务器失败") return # 获取仿生头 biohead = client.get_biohead("bio_head") # 创建表情 expression = FacialExpressionState() expression.left_eyebrow_outside_y = random.uniform(0, 1) expression.jaw_x = 0.5 expression.jaw_y = 0.5 # # 设置眉毛，使用随机数并打印 # expression.left_eyebrow_outside_y = random.uniform(0, 1) # expression.left_eyebrow_inside_y = random.uniform(0, 1) # expression.right_eyebrow_outside_y = random.uniform(0, 1) # expression.right_eyebrow_inside_y = random.uniform(0, 1) # print(f"眉毛设置: 左外 {expression.left_eyebrow_outside_y}, 左内 {expression.left_eyebrow_inside_y}, 右外 {expression.right_eyebrow_outside_y}, 右内 {expression.right_eyebrow_inside_y}") # # # 设置眼睑，使用随机数并打印 # expression.left_eye_upper_lid_y = random.uniform(0, 1) # expression.left_eye_lower_lid_y = random.uniform(0, 1) # expression.right_eye_upper_lid_y = random.uniform(0, 1) # expression.right_eye_lower_lid_y = random.uniform(0, 1) # print(f"眼睑设置: 左上 {expression.left_eye_upper_lid_y}, 左下 {expression.left_eye_lower_lid_y}, 右上 {expression.right_eye_upper_lid_y}, 右下 {expression.right_eye_lower_lid_y}") # # # 设置眼球，使用随机数并打印 # expression.left_eye_ball_x = random.uniform(0, 1) # expression.left_eye_ball_y = random.uniform(0, 1) # expression.right_eye_ball_x = random.uniform(0, 1) # expression.right_eye_ball_y = random.uniform(0, 1) # print(f"眼球设置: 左X {expression.left_eye_ball_x}, 左Y {expression.left_eye_ball_y}, 右X {expression.right_eye_ball_x}, 右Y {expression.right_eye_ball_y}") # # # 设置嘴巴，使用随机数并打印 # expression.upper_lip_y = random.uniform(0, 1) # expression.lower_lip_y = random.uniform(0, 1) # print(f"嘴巴设置: 上唇 {expression.upper_lip_y}, 下唇 {expression.lower_lip_y}") # # # 设置下巴，使用随机数并打印 # expression.jaw_x = random.uniform(0, 1) # expression.jaw_y = random.uniform(0, 1) # print(f"下巴设置: X {expression.jaw_x}, Y {expression.jaw_y}") # 设置表情 result = biohead.set_expression(expression) if result == CMVRErrorCode.CMVR_SUCCESS: print("设置表情成功") else: print(f"设置表情失败，错误码: {result}") # 测试流式控制 print("开始流式控制表情 (5次眨眼)...") result = biohead.start_stream() if result != CMVRErrorCode.CMVR_SUCCESS: print(f"开始流式会话失败，错误码: {result}") else: for i in range(5): # 创建 protobuf 消息用于流式传输 proto_expr = biohead_command_pb2.FacialExpression() # 睁眼，使用随机数并打印 proto_expr.eyelid.left_upper_y = random.uniform(0, 1) proto_expr.eyelid.left_lower_y = random.uniform(0, 1) proto_expr.eyelid.right_upper_y = random.uniform(0, 1) proto_expr.eyelid.right_lower_y = random.uniform(0, 1) print(f"第{i+1}次流式睁眼设置: 左上 {proto_expr.eyelid.left_upper_y}, 左下 {proto_expr.eyelid.left_lower_y}, 右上 {proto_expr.eyelid.right_upper_y}, 右下 {proto_expr.eyelid.right_lower_y}") result = biohead.stream_expression(proto_expr) if result == CMVRErrorCode.CMVR_SUCCESS: print(f"第{i+1}次流式睁眼成功") else: print(f"第{i+1}次流式睁眼失败，错误码: {result}") # 闭眼，使用随机数并打印 proto_expr.eyelid.left_upper_y = random.uniform(0, 1) proto_expr.eyelid.left_lower_y = random.uniform(0, 1) proto_expr.eyelid.right_upper_y = random.uniform(0, 1) proto_expr.eyelid.right_lower_y = random.uniform(0, 1) print(f"第{i+1}次流式闭眼设置: 左上 {proto_expr.eyelid.left_upper_y}, 左下 {proto_expr.eyelid.left_lower_y}, 右上 {proto_expr.eyelid.right_upper_y}, 右下 {proto_expr.eyelid.right_lower_y}") result = biohead.stream_expression(proto_expr) if result == CMVRErrorCode.CMVR_SUCCESS: print(f"第{i+1}次流式闭眼成功") else: print(f"第{i+1}次流式闭眼失败，错误码: {result}") # 结束流式会话 result = biohead.end_stream() if result == CMVRErrorCode.CMVR_SUCCESS: print("结束流式会话成功") else: print(f"结束流式会话失败，错误码: {result}") print("流式控制完成") # 获取系统状态 result = biohead.get_system_status() if result == CMVRErrorCode.CMVR_SUCCESS: print("获取系统状态成功") else: print(f"获取系统状态失败，错误码: {result}") # 测试紧急停止 result = biohead.emergency_stop() if result == CMVRErrorCode.CMVR_SUCCESS: print("紧急停止成功") else: print(f"紧急停止失败，错误码: {result}") client.close() def test_camera(): """测试相机功能""" print("=== 测试相机功能 ===") # 初始化客户端 client = CMVRGrpcClient("192.168.1.222:50060") if not client.is_connected(): print("连接服务器失败") return # 获取相机客户端 camera = client.get_camera("cam4") # 假设设备ID为"cam4" # 获取相机初始状态 error_code, state = camera.get_status() if error_code == CMVRErrorCode.CMVR_SUCCESS: print(f"相机初始状态: 已初始化={state.is_initialized}, 已打开={state.is_opened}, " f"已流传输={state.is_streaming}, 已录制={state.is_recording}, " f"分辨率={state.width}x{state.height}, FPS={state.fps}") else: print(f"获取相机状态失败，错误码: {error_code}") client.close() return # 启动相机 start_result = camera.start_camera() if start_result == CMVRErrorCode.CMVR_SUCCESS: print("相机启动成功") else: print(f"相机启动失败，错误码: {start_result}") client.close() return # 等待相机启动 time.sleep(1) # 再次获取相机状态确认 error_code, state = camera.get_status() if error_code == CMVRErrorCode.CMVR_SUCCESS: print(f"启动后状态: 已打开={state.is_opened}, 已流传输={state.is_streaming}") else: print(f"获取相机状态失败，错误码: {error_code}") # 测试获取RGB图像并保存 print("开始获取图像并保存 (3次)...") for i in range(3): error_code, img_array, width, height = camera.get_rgb_image() if error_code == CMVRErrorCode.CMVR_SUCCESS and img_array.size > 0: # 生成保存路径（当前目录） img_filename = f"camera_test_image_{i+1}_{int(time.time())}.jpg" # 转换颜色格式（如果需要） if len(img_array.shape) == 3: cv2_img = cv2.cvtColor(img_array, cv2.COLOR_RGB2BGR) else: cv2_img = img_array # 保存图像 cv2.imwrite(img_filename, cv2_img) print(f"第{i+1}次获取图像成功，已保存至: {img_filename}，分辨率: {width}x{height}") else: print(f"第{i+1}次获取图像失败，错误码: {error_code}") time.sleep(1) # 测试录像功能 video_path = f"test_recording_{int(time.time())}.mp4" print(f"开始录像，保存路径: {os.path.abspath(video_path)}") # 显示绝对路径 record_start_result = camera.start_record(video_path) if record_start_result == CMVRErrorCode.CMVR_SUCCESS: print("录像开始成功，录制5秒...") time.sleep(5) # 停止录像 record_stop_result = camera.stop_record() if record_stop_result == CMVRErrorCode.CMVR_SUCCESS: print("录像停止成功") else: print(f"录像停止失败，错误码: {record_stop_result}") else: print(f"录像开始失败，错误码: {record_start_result}") # 停止相机 stop_result = camera.stop_camera() if stop_result == CMVRErrorCode.CMVR_SUCCESS: print("相机停止成功") else: print(f"相机停止失败，错误码: {stop_result}") # 最终状态确认 error_code, state = camera.get_status() if error_code == CMVRErrorCode.CMVR_SUCCESS: print(f"最终状态: 已打开={state.is_opened}, 已流传输={state.is_streaming}") else: print(f"获取相机状态失败，错误码: {error_code}") client.close() def test_rgb_image_stream(): """测试双向流视频帧数据接口""" print("=== 测试双向流视频帧数据接口 ===") # 初始化GRPC客户端 client = CMVRGrpcClient("192.168.1.222:50060") if not client.is_connected(): print("连接服务器失败") return # 获取camera客户端 camera = client.get_camera("cam4") if not camera: print("获取camera客户端失败") client.close() return # 启动相机 start_result = camera.start_camera() if start_result == CMVRErrorCode.CMVR_SUCCESS: print("相机启动成功") else: print(f"相机启动失败，错误码: {start_result}") client.close() return # 等待相机启动 time.sleep(1) try: # 1. 启动传感器数据流 print("\n--- 启动rgb数据流 ---") # 创建请求生成器（双向流不需要参数，发送空请求） def request_generator() -> Generator: # 发送初始请求启动流 yield camera.create_rgb_stream_request() # 保持流连接，每5秒发送一次心跳（可选） try: while True: time.sleep(5) # 发送空请求保持连接 yield camera.create_rgb_stream_request() except GeneratorExit: print("请求生成器已关闭") return # 2. 接收并处理流数据 print("开始接收rgb流数据（5秒后自动停止）...") start_time = time.time() stream_duration = 15 # 接收15秒数据 keyframe_count = 0 # 关键帧计数器 total_frame_count = 0 # 总帧数计数器 # 存储流迭代器的变量 stream_iterator = camera.get_rgb_stream(request_generator()) # 调用双向流接口 for feedback in stream_iterator: # 检查是否超时 if time.time() - start_time > stream_duration: print("\n达到预设接收时间，停止接收") break total_frame_count += 1 # 累加总帧数 # 检查是否为关键帧并计数 if feedback.color_frame.is_key_frame: keyframe_count += 1 print(f"[关键帧 #{keyframe_count}] 收到关键帧 (总帧数: {total_frame_count})") stream_iterator.cancel() print(f"\n流接收结束 - 总帧数: {total_frame_count}, 关键帧数: {keyframe_count}, 关键帧占比: {keyframe_count/total_frame_count:.2%}") except grpc.RpcError as e: print(f"双向流通信错误: {e}") except Exception as e: print(f"处理流数据时发生错误: {e}") finally: # 关闭连接 client.close() print("\n=== 双向流传感器数据测试完成 ===") def test_dexhand(): """测试DexHand功能（获取状态、设置角度和传感器数据）""" print("=== 测试DexHand功能 ===") # 初始化GRPC客户端（使用实际服务器地址） client = CMVRGrpcClient("192.168.0.222:50052") if not client.is_connected(): print("连接服务器失败") return # 获取DexHand客户端（假设设备ID为"hand1"，根据实际设备ID修改） dexhand = client.get_dexhand("hand1") if not dexhand: print("获取DexHand客户端失败") client.close() return # 定义：字符串ID与手指名称的映射（与proto/服务端一致） dof_id_to_name = { "little_finger": "小拇指", "ring_finger": "无名指", "middle_finger": "中指", "index_finger": "食指", "thumb_bend": "大拇指弯曲", "thumb_rotate": "大拇指旋转" } # 有效字符串ID列表（用于后续判断） valid_dof_ids = set(dof_id_to_name.keys()) # 1. 获取初始状态 # print("\n--- 获取初始状态 ---") # error_code, state = dexhand.get_status() # if error_code == CMVRErrorCode.CMVR_SUCCESS: # print(f"初始化状态: 已初始化={state.is_initialized}") # print("各自由度状态:") # for hand in state.hands: # # 匹配字符串ID对应的手指名称，未知ID显示原始值 # finger_name = dof_id_to_name.get(hand.dof_id, f"未知自由度({hand.dof_id})") # print(f" {finger_name} (ID:{hand.dof_id}): 角度={hand.angle}, 速度={hand.speed}, " # f"受力={hand.force}, 位置={hand.position}, 温度={hand.temperature}°C") # if hand.error != 0: # print(f" 警告: {finger_name} 存在故障: {hand.error_message}") # else: # print(f"获取初始状态失败，错误码: {error_code}") # client.close() # return # 1.1 获取初始传感器数据 print("\n--- 获取初始传感器数据 ---") error_code, sensors = dexhand.get_sensor_data() if error_code == CMVRErrorCode.CMVR_SUCCESS: print("初始传感器数据摘要:") sensors.print_summary() # 调用传感器数据摘要打印方法 # 打印掌心和食指指端的传感器数据示例 print(f" 掌心传感器数据形状: {sensors.palm.data.shape}") print(f" 食指指端传感器数据形状: {sensors.index_tip.data.shape}") else: print(f"获取初始传感器数据失败，错误码: {error_code}") # 2. 设置测试角度（小拇指、食指、大拇指弯曲等） print("\n--- 设置测试角度 ---") # 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） test_angles = { "little_finger": 0.9, # 小拇指 "ring_finger": 0.9, # 无名指 "middle_finger": 0.9, # 中指 "index_finger": 0.9, # 食指 "thumb_bend": 0.9, # 大拇指弯曲 "thumb_rotate": 0.9 # 大拇指旋转 } # 打印设置信息（通过映射表显示中文名称） print("准备设置角度:") for dof_id, value in test_angles.items(): finger_name = dof_id_to_name[dof_id] # 已确保ID有效，直接获取名称 print(f" {finger_name} (ID:{dof_id}): {value*100}%") # 执行角度设置（直接传入字符串ID的字典） set_result = dexhand.set_angle(test_angles) if set_result == CMVRErrorCode.CMVR_SUCCESS: print("角度设置命令发送成功，等待执行器动作...") time.sleep(2) # 等待执行器完成动作 else: print(f"角度设置失败，错误码: {set_result}") client.close() return # 2.1 获取角度变化后的传感器数据 print("\n--- 获取角度变化后传感器数据 ---") error_code, sensors_after = dexhand.get_sensor_data() if error_code == CMVRErrorCode.CMVR_SUCCESS: print("角度变化后传感器数据摘要:") # 对比食指指腹在动作前后的平均压力变化 if hasattr(sensors, 'index_pad') and hasattr(sensors_after, 'index_pad'): avg_before = sensors.index_pad.data.mean() if sensors.index_pad.data.size > 0 else 0 avg_after = sensors_after.index_pad.data.mean() if sensors_after.index_pad.data.size > 0 else 0 print(f" 食指指腹平均压力变化: {avg_before:.2f} → {avg_after:.2f}") # 打印大拇指指端数据示例（前3个值） if hasattr(sensors_after, 'thumb_tip') and sensors_after.thumb_tip.data.size > 0: print(f" 大拇指指端部分数据: {sensors_after.thumb_tip.data.flatten()[:3]}...") else: print(f"获取角度变化后传感器数据失败，错误码: {error_code}") # 3. 获取设置后的状态 print("\n--- 获取设置后状态 ---") error_code, state = dexhand.get_status() if error_code == CMVRErrorCode.CMVR_SUCCESS: print("设置后各自由度状态（仅显示已设置的自由度）:") for hand in state.hands: # 只打印我们设置过的自由度（字符串ID对比） if hand.dof_id in test_angles: finger_name = dof_id_to_name[hand.dof_id] print(f" {finger_name} (ID:{hand.dof_id}): 新角度={hand.angle}, 当前位置={hand.position}") else: print(f"获取设置后状态失败，错误码: {error_code}") # 4. 恢复默认角度（复位操作） print("\n--- 恢复默认角度 ---") # 复位字典：键为字符串ID，值为默认百分比 default_angles = { "little_finger": 0.1, "ring_finger": 0.1, "middle_finger": 0.1, "index_finger": 0.1, "thumb_bend": 0.1, "thumb_rotate": 0.8 } set_result = dexhand.set_angle(default_angles) if set_result == CMVRErrorCode.CMVR_SUCCESS: print("默认角度恢复成功，等待复位完成...") time.sleep(2) else: print(f"默认角度恢复失败，错误码: {set_result}") # 4.1 获取复位后的传感器数据 print("\n--- 获取复位后传感器数据 ---") error_code, sensors_reset = dexhand.get_sensor_data() if error_code == CMVRErrorCode.CMVR_SUCCESS: print("复位后传感器数据摘要:") # 对比掌心压力在复位前后的变化 if hasattr(sensors_after, 'palm') and hasattr(sensors_reset, 'palm'): avg_after = sensors_after.palm.data.mean() if sensors_after.palm.data.size > 0 else 0 avg_reset = sensors_reset.palm.data.mean() if sensors_reset.palm.data.size > 0 else 0 print(f" 掌心平均压力变化: {avg_after:.2f} → {avg_reset:.2f}") else: print(f"获取复位后传感器数据失败，错误码: {error_code}") # 5. 最终状态确认 print("\n--- 最终状态确认 ---") error_code, state = dexhand.get_status() if error_code == CMVRErrorCode.CMVR_SUCCESS: print(f"最终初始化状态: {state.is_initialized}") print("关键自由度最终位置:") # 遍历需要确认的自由度（字符串ID） for dof_id in test_angles.keys(): for hand in state.hands: if hand.dof_id == dof_id: finger_name = dof_id_to_name[dof_id] print(f" {finger_name} (ID:{dof_id}): 角度={hand.angle}, 位置={hand.position}") else: print(f"获取最终状态失败，错误码: {error_code}") # 关闭连接 client.close() print("\n=== DexHand测试完成 ===") def test_sensor_data_stream(): """测试双向流传感器数据接口""" print("=== 测试双向流传感器数据接口 ===") # 初始化GRPC客户端 client = CMVRGrpcClient("192.168.1.222:50052") if not client.is_connected(): print("连接服务器失败") return # 获取DexHand客户端 dexhand = client.get_dexhand("hand1") if not dexhand: print("获取DexHand客户端失败") client.close() return try: # 1. 启动传感器数据流 print("\n--- 启动传感器数据流 ---") # 创建请求生成器（双向流不需要参数，发送空请求） def request_generator() -> Generator: # 发送初始请求启动流 yield dexhand.create_stream_request() # 保持流连接，每5秒发送一次心跳（可选） try: while True: time.sleep(5) # 发送空请求保持连接 yield dexhand.create_stream_request() except GeneratorExit: print("请求生成器已关闭") return # 2. 接收并处理流数据 print("开始接收传感器流数据（5秒后自动停止）...") start_time = time.time() stream_duration = 15 # 接收15秒数据 # 调用双向流接口 for feedback in dexhand.get_sensor_data_stream(request_generator()): # 检查是否超时 if time.time() - start_time > stream_duration: print("\n达到预设接收时间，停止接收") break # # 检查反馈状态 # if not feedback.header.success: # print(f"数据流接收失败，错误码: {feedback.header.error_code}") # continue # 处理传感器数据（转换为HandTactileSensors对象） error_code, sensors = dexhand.parse_sensor_stream_data(feedback) if error_code != CMVRErrorCode.CMVR_SUCCESS: print("传感器数据解析失败") continue # 打印传感器数据摘要（每秒打印一次） if int(time.time()) % 1 == 0: # 控制打印频率 print(f"\n--- 传感器数据 (时间: {time.time() - start_time:.2f}s) ---") sensors.print_summary() # 打印食指指端的实时数据示例 if sensors.index_tip.data is not None and sensors.index_tip.data.size > 0: print(f"食指指端平均压力: {sensors.index_tip.data.mean():.2f}") if sensors.palm.data is not None and sensors.palm.data.size > 0: print(f"掌心平均压力: {sensors.palm.data.mean():.2f}") except grpc.RpcError as e: print(f"双向流通信错误: {e}") except Exception as e: print(f"处理流数据时发生错误: {e}") finally: # 关闭连接 client.close() print("\n=== 双向流传感器数据测试完成 ===") def test_speaker(): """测试扬声器功能""" print("\n=== 测试扬声器功能 ===") # 初始化GRPC客户端 client = CMVRGrpcClient("192.168.1.222:50060") if not client.is_connected(): print("连接服务器失败") return speaker = client.get_speaker("spk1") if speaker is None: print("获取扬声器失败") return # 获取状态 result, status = speaker.get_status() if result == CMVRErrorCode.CMVR_SUCCESS: print(f"扬声器状态: 初始化={status.is_initialized}, 运行中={status.is_running}") else: print(f"获取扬声器状态失败，错误码: {result}") # 设置音量 result = speaker.set_volume(80) # 80%音量 if result == CMVRErrorCode.CMVR_SUCCESS: print("设置音量成功") else: print(f"设置音量失败，错误码: {result}") # 获取音量 result, volume = speaker.get_volume() if result == CMVRErrorCode.CMVR_SUCCESS: print(f"当前音量: {volume}%") else: print(f"获取音量失败，错误码: {result}") # 播放音频 (需要替换为实际存在的音频文件路径) audio_path = "/home/share/assets/upload/员工女_车内温度有点低，是否需要调高空调？.wav" print(f"尝试播放音频: {audio_path}") result = speaker.play_audio(audio_path) if result == CMVRErrorCode.CMVR_SUCCESS: print("开始播放音频") # 等待3秒 time.sleep(3) # 暂停播放 result = speaker.pause_audio() if result == CMVRErrorCode.CMVR_SUCCESS: print("暂停播放") # 等待1秒 time.sleep(1) # 继续播放 result = speaker.resume_audio() if result == CMVRErrorCode.CMVR_SUCCESS: print("继续播放") # 等待2秒 time.sleep(2) # 停止播放 result = speaker.stop_audio() if result == CMVRErrorCode.CMVR_SUCCESS: print("停止播放") else: print(f"停止播放失败，错误码: {result}") else: print(f"继续播放失败，错误码: {result}") else: print(f"暂停播放失败，错误码: {result}") else: print(f"播放音频失败，错误码: {result}") def test_microphone(): """测试麦克风功能""" print("\n=== 测试麦克风功能 ===") # 初始化GRPC客户端 client = CMVRGrpcClient("192.168.1.222:50060") if not client.is_connected(): print("连接服务器失败") return microphone = client.get_micphone("mic2") if microphone is None: print("获取麦克风失败") return # 获取状态 result, status = microphone.get_status() if result == CMVRErrorCode.CMVR_SUCCESS: print(f"麦克风状态: 初始化={status.is_initialized}, 录音中={status.is_recording}") else: print(f"获取麦克风状态失败，错误码: {result}") # 开始录音 audio_path = "/home/linbo/Data/Audio/recorded_audio.mp3" result = microphone.start_record(audio_path) if result == CMVRErrorCode.CMVR_SUCCESS: print(f"开始录音，保存到: {audio_path}") # 录音5秒 time.sleep(5) # 停止录音 result = microphone.stop_record() if result == CMVRErrorCode.CMVR_SUCCESS: print("停止录音") else: print(f"停止录音失败，错误码: {result}") else: print(f"开始录音失败，错误码: {result}") def test_humanoid_robot(): """测试机器人功能""" print("\n=== 测试机器人功能 ===") # 初始化GRPC客户端 client = CMVRGrpcClient("192.168.0.222:50052") if not client.is_connected(): print("连接服务器失败") return humanoidRobot = client.get_humanoid_robot("hc01") if humanoidRobot is None: print("获取机器人失败") return # 使能 # print("\n1. 开启机器人使能...") # result = humanoidRobot.torqueOn() # if result == CMVRErrorCode.CMVR_SUCCESS: # print("✅ 使能开启成功") # else: # print(f"❌ 使能开启失败，错误码: {result}") # return # 等待使能生效 import time time.sleep(1) try: # 获取初始状态 print("\n2. 获取初始关节状态...") # 获取状态 result, joint_states = humanoidRobot.get_joint_states() if result == CMVRErrorCode.CMVR_SUCCESS: print(f"成功获取 {len(joint_states)} 个关节状态组") for i, status in enumerate(joint_states): print(f"\n=== 关节状态组 {i+1} ===") print(f"时间戳: {status.timestamp:.3f}s") print(f"关节数量: {len(status.name)}") if len(status.name) > 0: print("\n关节详情:") print(f"{'关节名称':<20} {'位置(rad)':<12} {'速度(rad/s)':<12} {'力矩':<10}") print("-" * 55) for j, name in enumerate(status.name): pos = status.position[j] if j < len(status.position) else 0.0 vel = status.velocity[j] if j < len(status.velocity) else 0.0 eff = status.effort[j] if j < len(status.effort) else 0.0 print(f"{name:<20} {pos:<12.4f} {vel:<12.4f} {eff:<10.4f}") else: print("该状态组没有关节数据") # 打印所有状态的汇总信息 print(f"\n=== 汇总信息 ===") total_joints = sum(len(state.name) for state in joint_states) timestamps = [state.timestamp for state in joint_states] print(f"总关节数: {total_joints}") print(f"时间戳范围: {min(timestamps):.3f}s - {max(timestamps):.3f}s") else: print(f"获取关节状态失败，错误码: {result}") return # 测试moveJ - 关节空间运动 print("\n3. 测试关节空间运动 (moveJ)...") # 创建关节命令列表,回到零位 joint_commands = [ JointCmd(joint_name="L_SHOULDER_P", rad=0, vel=0.8), JointCmd(joint_name="L_SHOULDER_R", rad=0, vel=0.8), JointCmd(joint_name="L_SHOULDER_Y", rad=0, vel=0.8), JointCmd(joint_name="L_ELBOW_R", rad=0, vel=0.8), JointCmd(joint_name="L_WRIST_P", rad=0, vel=0.8), JointCmd(joint_name="L_WRIST_Y", rad=0, vel=0.8), JointCmd(joint_name="L_WRIST_R", rad=0, vel=0.8), JointCmd(joint_name="R_SHOULDER_P", rad=0, vel=0.8), JointCmd(joint_name="R_SHOULDER_R", rad=0, vel=0.8), JointCmd(joint_name="R_SHOULDER_Y", rad=0, vel=0.8), JointCmd(joint_name="R_ELBOW_R", rad=0, vel=0.8), JointCmd(joint_name="R_WRIST_P", rad=0, vel=0.8), JointCmd(joint_name="R_WRIST_Y", rad=0, vel=0.8), JointCmd(joint_name="R_WRIST_R", rad=0, vel=0.8), JointCmd(joint_name="WAIST_P", rad=0, vel=0.8), JointCmd(joint_name="WAIST_Y", rad=0, vel=0.8) ] result, _ = humanoidRobot.moveJ(joint_commands, overall_vel=0.8, overall_acc=0.4) if result == CMVRErrorCode.CMVR_SUCCESS: print("✅ moveJ 命令发送成功") time.sleep(3) # 等待运动完成 else: print(f"❌ moveJ 命令发送失败，错误码: {result}") # 获取运动后的状态 print("\n 获取moveJ后的关节状态...") result, status = humanoidRobot.get_joint_state() if result == CMVRErrorCode.CMVR_SUCCESS: print(f" 运动后时间戳: {status.timestamp:.3f}s") print(f" 关节数量: {len(status.name)}") # 测试moveL - 直线空间运动 print("\n4. 测试直线空间运动 (moveL)...") # 创建目标位姿 (相对于当前位姿的小幅移动) target_pose = Pose3D(x=0.05, y=0.0, z=0.0, rx=0.0, ry=0.0, rz=0.0) result, _ = humanoidRobot.moveL(ee_link="R_WRIST_R", target_pose=target_pose, vel=0.05, acc=0.2) if result == CMVRErrorCode.CMVR_SUCCESS: print("✅ moveL 命令发送成功") time.sleep(3) # 等待运动完成 else: print(f"❌ moveL 命令发送失败，错误码: {result}") # 测试speedJ - 关节速度控制 print("\n5. 测试关节速度控制 (speedJ)...") result, error_msg = humanoidRobot.speedJ(joint_name="R_SHOULDER_P", velocity=0.1, direction=RobotJointIndexDirection.FORWARD, acc=0.3) if result == CMVRErrorCode.CMVR_SUCCESS: print("✅ speedJ 命令发送成功") time.sleep(2) # 运行2秒 # 停止运动 stop_result, _ = humanoidRobot.speedJ(joint_name="R_SHOULDER_P", velocity=0.0, direction=RobotJointIndexDirection.FORWARD, acc=0.3) print(" 停止speedJ运动") else: print(f"❌ speedJ 命令发送失败，错误码: {result}") if error_msg: print(f" 错误信息: {error_msg}") # 测试speedL - 笛卡尔速度控制 print("\n6. 测试笛卡尔速度控制 (speedL)...") result, error_msg = humanoidRobot.speedL(ee_link="R_WRIST_R", velocity=0.02, cartesian=RobotCartesian.X, direction=RobotJointIndexDirection.FORWARD, acc=0.1) if result == CMVRErrorCode.CMVR_SUCCESS: print("✅ speedL 命令发送成功") time.sleep(2) # 运行2秒 # 停止运动 stop_result, _ = humanoidRobot.speedL(ee_link="R_WRIST_R", velocity=0.0, cartesian=RobotCartesian.X, direction=RobotJointIndexDirection.FORWARD, acc=0.1) print(" 停止speedL运动") else: print(f"❌ speedL 命令发送失败，错误码: {result}") if error_msg: print(f" 错误信息: {error_msg}") # 获取最终状态 print("\n7. 获取最终关节状态...") result, status = humanoidRobot.get_joint_state() if result == CMVRErrorCode.CMVR_SUCCESS: print("\n=== 最终关节状态信息 ===") print(f"时间戳: {status.timestamp:.3f}s") print(f"关节数量: {len(status.name)}") if len(status.name) > 0: print("\n关节详情:") print(f"{'关节名称':<15} {'位置(rad)':<12} {'速度(rad/s)':<12} {'力矩':<10}") print("-" * 50) for i, name in enumerate(status.name): pos = status.position[i] if i < len(status.position) else 0.0 vel = status.velocity[i] if i < len(status.velocity) else 0.0 eff = status.effort[i] if i < len(status.effort) else 0.0 print(f"{name:<15} {pos:<12.4f} {vel:<12.4f} {eff:<10.4f}") else: print("没有关节数据") else: print(f"获取最终状态失败，错误码: {result}") except Exception as e: print(f"\n❌ 测试过程中发生异常: {e}") import traceback traceback.print_exc() finally: # 去使能 print("\n8. 关闭机器人使能...") result = humanoidRobot.torqueOff() if result == CMVRErrorCode.CMVR_SUCCESS: print("✅ 使能关闭成功") else: print(f"❌ 使能关闭失败，错误码: {result}") print("\n=== 机器人功能测试完成 ===") if __name__ == "__main__": # test_biohead() # test_camera() # test_rgb_image_stream() test_dexhand() # test_sensor_data_stream() # test_speaker() # test_microphone() # test_humanoid_robot()