2025-08-22 16:57:29 +08:00
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import sys
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2025-08-28 09:39:59 +08:00
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import os
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os.environ["GLOG_minloglevel"] = "1" # 屏蔽 INFO
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# from python.vision_servo.follow_target import moveJ
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2025-08-22 16:57:29 +08:00
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import time
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# 把.so所在目录加入 Python 路径
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sys.path.append("/home/lgv/cmvr/cmvr-es/cmake-build-debug/example")
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# 导入模块
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from robot_wrapper import Robot
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# 初始化机器人（传入配置文件路径和机器人名称）
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robot = Robot("/home/lgv/cmvr/cmvr-es/config/cabin_robot.xml", "hc01")
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2025-08-28 09:39:59 +08:00
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# JOINT_POSITIONS = [
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# [-0.1756037771702, 1.1800090074539, 1.8522456884384, 1.5761110782623, -2.7331359386444, 0.2563314139843, -0.0606026798487],
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# [-0.1923076510429, 1.1099290847778, 1.8832376003265, 1.7514026165009, -2.6219944953918, 0.1934144645929, 0.2889180481434],
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# [0.2704087197781, 0.9557962417603, 1.7136577367783, 1.6711657047272, -2.5147924423218, 0.0584972538054, 0.783962905407],
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# [0.383531242609, 0.7108500599861, 1.7350907325745, 1.8691725730896, -2.2797479629517, -0.1232690215111, 1.2245988845825],
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# [0.3922453224659, 0.7737803459167, 1.8068689107895, 1.6336191892624, -2.1118586063385, -0.0338453501463, 1.1426001787186],
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# [0.2443187087774, 0.7818641066551, 1.9731577634811, 1.5233805179596, -1.872123837471, 0.0405574627221, 1.1054704189301],
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# [0.1276659220457, 0.9156659245491, 2.0081288814545, 1.4481414556503, -1.8519257307053, 0.2532368600368, 0.8394842743874],
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# [0.1861536949873, 1.0141937732697, 1.8355123996735, 1.1459348201752, -2.2625010013580, 0.5969776511192, 0.2645072638988],
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# [-0.0192848723382, 0.9415585398674, 1.8732609748840, 1.1809715032578, -2.6499755382538, 0.6354467868805, -0.2003904730082],
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# [-0.1747295111418, 1.0453623533249, 1.8939573764801, 1.4446462392807, -2.6536157131195, 0.5147834420204, -0.1335265636444],
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# [-0.0191576723009, 1.0618592500687, 1.8731262683868, 1.4747705459595, -2.4312825202942, 0.3830471336842, 0.2654716968536],
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# [0.1436645090580, 0.8961057662964, 1.9278227090836, 1.5483351945877, -2.1520030498505, 0.2300240248442, 0.7717508077621],
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# [-0.2458887547255, 1.3182551860809, 1.8035455942154, 1.7302685976028, -2.8433899879456, 0.0447540767491, -0.0295310281217],
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# [-0.1628440171480, 1.1346882581711, 1.7724473476410, 1.8686875104904, -2.8621222972870, 0.0011371960863, 0.3351055085659],
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# [0.2227641940117, 0.9846931695938, 1.5547094345093, 1.9238842725754, -2.8571910858154, -0.1052865162492, 0.8961741328239],
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# [0.4523145258427, 0.7738097310066, 1.5341449975967, 1.9425786733627, -2.5897336006165, -0.1147941574454, 1.2599183320999],
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# [0.6323996782303, 0.7300637960434, 1.3266047239304, 2.0460503101349, -2.7566838264465, -0.1049704179168, 1.4412622451782],
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# [0.6435400247574, 0.7136778831482, 1.3097128868103, 2.0483627319336, -2.7511403560638, -0.1215622797608, 1.5219746828079],
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# [0.0131992585957, 1.1347451210022, 1.4958723783493, 1.7922105789185, -3.1400320529938, -0.2474720925093, 0.4145260155201],
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# [-0.1823624074459, 1.4246475696564, 1.7136197090149, 1.6952623128891, -2.9659118652344, -0.1499162465334, -0.0364842526615],
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# ]
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#
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#
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# while True:
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# for j in JOINT_POSITIONS:
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# robot.moveJ('right', j)
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robot.torqueOn()
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2025-08-22 16:57:29 +08:00
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# 控制左臂关节
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2025-08-28 09:39:59 +08:00
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robot.moveJ("right", [0.0, 0.0, 0.0, 0.0, 0.0,0.0, 0.0])
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2025-08-22 16:57:29 +08:00
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# # robot.moveJ("right", [-0.344938, 0.935147, 2.27031,1.68959, -2.32841,0.460145, 0.300996])
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# # robot.moveJ("right", [0.0, 0.0, 0.0, 0.0, 0.0,0.0, 0.0])
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# #
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2025-08-28 09:39:59 +08:00
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time.sleep(10)
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robot.moveJ("right", [0.00203898, 1.34062, 0.0,0.322261, 0.0,-0.000210733, -0.0942364])
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# robot.torqueOff()
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2025-08-22 16:57:29 +08:00
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# // {"R_SHOULDER_P", 0.00203898},
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# // {"R_SHOULDER_R", 1.34062},
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# // {"R_SHOULDER_Y", 0.0},
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# // {"R_ELBOW_R", 0.522261},
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# // {"R_WRIST_P", 0.0},
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# // {"R_WRIST_Y", -0.000210733},
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# // {"R_WRIST_R", -0.0942364}
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# 控制右臂关节
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# robot.moveJ("right", [0.1, 0.4, -0.3, 0.2, 0.0, -0.1, 0.2])
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