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cmvr-es/src/devices/robot/humanoid_robot/humanoid_robot.cpp

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feat:add eye hand calibration and pose follow
2025-08-22 16:57:29 +08:00
//
// Created by xtkuang on 2025/7/24.
//
#include "humanoid_robot.h"
#include "motor/ti5_motor/canopen/ti5_motor_canopen_protocol.h"
#include "motor/ti5_motor/ti5_motor.h"
using namespace std;
using namespace cmvr::device;
template<int DOF>
HumanoidRobot<DOF>::HumanoidRobot(const XmlNode &cfg) : AbstractRobot(cfg) {
try {
id_ = cfg.getAttrString("id");
dof_ = DOF;
if (!pathExists(cfg.getAttrString("urdf"))) {
throw runtime_error("urdf file does not exist");
}
auto rcfg = cmvr::dyn::LoadRobotFromURDF(
cfg.getAttrString("urdf"), cfg.getAttrString("baseLink"));
m_robot_ = std::make_shared<cmvr::dyn::Robot<DOF> >(rcfg);
joint_names_ = splitString(cfg.getAttrString("jointNames"), ",");
link_names_ = splitString(cfg.getAttrString("linkNames"), ",");
if (joint_names_.size() != dof_) {
throw runtime_error("joint names size mismatched with dof");
}
m_state_ = m_robot_->MakeState(link_names_, joint_names_);
m_cctrl_ = make_shared<ctrl::CartesianController<DOF> >(m_robot_);
upd_freq_ = cfg.getAttrDefault("updFreq", 500);
CSP_buffer_ = make_shared<SPMCRingBuffer<JointPoint> >(cfg.getAttrDefault("bufferSize", 50));
CSV_buffer_ = make_shared<SPMCRingBuffer<JointVelocityCommand> >(cfg.getAttrDefault("bufferSize", 50));
CSC_buffer_ = make_shared<SPMCRingBuffer<JointCurrentCommand> >(cfg.getAttrDefault("bufferSize", 50));
auto can_cfg = cfg.getChild("CanManger");
auto l_can_cfg = can_cfg.getChild("LeftArmCan");
l_motors_cfg_ = l_can_cfg.getChildren("Motor");
l_can_client_ = std::make_shared<SocketCanClientRaw>(l_can_cfg);
l_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
l_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
l_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
auto r_can_cfg = can_cfg.getChild("RightArmCan");
r_motors_cfg_ = r_can_cfg.getChildren("Motor");
r_can_client_ = std::make_shared<SocketCanClientRaw>(r_can_cfg);
r_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
r_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
r_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
auto waist_can_cfg = can_cfg.getChild("WaistCan");
waist_motors_cfg_ = waist_can_cfg.getChildren("Motor");
waist_can_client_ = std::make_shared<SocketCanClientRaw>(waist_can_cfg);
waist_can_sender_ = std::make_shared<CanSender<msgs::RobotDetail> >();
waist_can_receiver_ = std::make_shared<CanReceiver<msgs::RobotDetail> >();
waist_message_manager_ = std::make_shared<MessageManager<msgs::RobotDetail> >();
upd_timer_ = make_shared<FDTimer>();
upd_timer_->start(chrono::nanoseconds(1000 / upd_freq_ * 1000),
[this] { update_state_(); });
rsm_.store(ROBOT_READY);
} catch (exception &e) {
LOG(ERROR) << "HumanoidRobot init failed, id=" << id_;
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::init() {
// 1 === 初始化公共组件 ===
l_can_client_->init();
r_can_client_->init();
waist_can_client_->init();
auto ret = l_can_sender_->Init(l_can_client_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can sender.";
}
ret = r_can_sender_->Init(r_can_client_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can sender.";
}
ret = waist_can_sender_->Init(waist_can_client_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can sender.";
}
ret = l_can_receiver_->Init(l_can_client_.get(), l_message_manager_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can receiver.";
}
ret = r_can_receiver_->Init(r_can_client_.get(), r_message_manager_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can receiver.";
}
ret = waist_can_receiver_->Init(waist_can_client_.get(), waist_message_manager_.get(), false);
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to init can receiver.";
}
// 2 === 启动通讯 ===
l_can_client_->start();
ret = l_can_sender_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can sender.";
}
r_can_client_->start();
ret = r_can_sender_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can sender.";
}
waist_can_client_->start();
ret = waist_can_sender_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can sender.";
}
ret = l_can_receiver_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can receiver.";
}
ret = r_can_receiver_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can receiver.";
}
ret = waist_can_receiver_->Start();
if (ret != ErrorCode::OK) {
LOG(ERROR) << "Failed to start can receiver.";
}
// 3 == 创建协议 ===
auto l_canopen_protocol = std::make_shared<Ti5MotorCanopenProtocol>(l_can_sender_, l_message_manager_);
auto r_canopen_protocol = std::make_shared<Ti5MotorCanopenProtocol>(r_can_sender_, r_message_manager_);
auto waist_canopen_protocol = std::make_shared<Ti5MotorCanopenProtocol>(waist_can_sender_, waist_message_manager_);
// 4 === 创建 MotorManager ===
motor_manager_ = std::make_shared<MotorManager>();
// for (const auto& cfg : r_motors_cfg_) {
// auto motor = std::make_shared<Ti5Motor>(cfg);
// motor->setProtocol(r_canopen_protocol);
// motor->init(); // 耗时操作
// motor_manager_->addMotor(motor);
// }
//
// for (const auto& cfg : l_motors_cfg_) {
// auto motor = std::make_shared<Ti5Motor>(cfg);
// motor->setProtocol(l_canopen_protocol);
// motor->init(); // 耗时操作
// motor_manager_->addMotor(motor);
// }
// 5 === 并行创建电机 ===
auto left_task = std::async(std::launch::async, [&] {
LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing LEFT motors...";
for (const auto &cfg: l_motors_cfg_) {
auto motor = std::make_shared<Ti5Motor>(cfg);
motor->setProtocol(l_canopen_protocol);
motor->init();
motor_manager_->addMotor(motor);
}
});
auto right_task = std::async(std::launch::async, [&] {
LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing RIGHT motors...";
for (const auto &cfg: r_motors_cfg_) {
auto motor = std::make_shared<Ti5Motor>(cfg);
motor->setProtocol(r_canopen_protocol);
motor->init();
motor_manager_->addMotor(motor);
}
});
auto waist_task = std::async(std::launch::async, [&] {
LOG(INFO) << "[Thread " << std::this_thread::get_id() << "] Start initializing waist motors...";
for (const auto &cfg: waist_motors_cfg_) {
auto motor = std::make_shared<Ti5Motor>(cfg);
motor->setProtocol(waist_canopen_protocol);
motor->init();
motor_manager_->addMotor(motor);
}
});
// 等待两个线程完成
left_task.get();
right_task.get();
waist_task.get();
rsm_.store(ROBOT_ESTOP);
LOG(INFO) << "All motors initialized successfully.";
}
template<int DOF>
void HumanoidRobot<DOF>::torqueOff() {
try {
if (rsm_.load() == ROBOT_RUNNING) {
throw runtime_error("robot is running");
}
if (rsm_.load() != ROBOT_TOROFF) {
for (const auto &pair: motor_manager_->motorsMap()) {
if (pair.second->jointName() != "WAIST_Y" && pair.second->jointName() != "WAIST_P" )
pair.second->torqueOff();
}
rsm_.store(ROBOT_TOROFF);
}
} catch (std::exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
HumanoidRobot<DOF>::~HumanoidRobot() {
// TODO: close can interfaces
upd_timer_->stop();
}
template<int DOF>
int HumanoidRobot<DOF>::getDOF() {
return dof_;
}
template<int DOF>
std::vector<std::string> HumanoidRobot<DOF>::getJointNames() {
return joint_names_;
}
template<int DOF>
std::unordered_map<std::string, double> HumanoidRobot<DOF>::getJointQ() const{
std::unordered_map<std::string, double> joint_qs;
for (const auto &pair : motor_manager_->motorsMap()) {
auto motor = pair.second;
joint_qs[motor->jointName()] = motor->getQ();
}
return joint_qs;
}
template<int DOF>
void HumanoidRobot<DOF>::getJointQ(std::unordered_map<std::string, double> &joint_qs) const {
for (auto &pair : joint_qs) {
auto motor = motor_manager_->getMotor(pair.first);
if (motor) {
pair.second = motor->getQ();
} else {
pair.second = 0.0;
}
}
}
template<int DOF>
std::vector<std::string> HumanoidRobot<DOF>::getLinkNames() {
return link_names_;
}
template<int DOF>
void HumanoidRobot<DOF>::getState(RobotState &state) {
try {
lock_guard lock(exec_mtx_);
// TODO: copy m_state_ date into state
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::torqueOn() {
eStop();
}
template<int DOF>
void HumanoidRobot<DOF>::eStop() {
if (rsm_.load() != ROBOT_ESTOP) {
CSP_buffer_->clear();
CSV_buffer_->clear();
CSC_buffer_->clear();
for (const auto &pair: motor_manager_->motorsMap()) {
pair.second->brake();
}
rsm_.store(ROBOT_ESTOP);
}
}
template<int DOF>
void HumanoidRobot<DOF>::moveJ(std::vector<JointPoint> &cmd, double vel, double acc) {
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
}
if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
rsm_.store(ROBOT_RUNNING);
for (const auto &j: cmd) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
// PPM 模式下 这个实际速度会超30% 左右
motor->setQd(vel);
if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) {
motor->setMode(msgs::RUN_MODE_PROFILE_POSITION);
}
motor->setQ(j.rad);
}
}
//3. wait for completion
bool completion = true;
do {
completion = true;
for (const auto &j: cmd) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
if (!motor->reachedTargetQ()) {
completion = false;
break;
}
}
}
// 4. while waiting, check flash_cmd_, if it is true, set it false then exit
if (flash_cmd_.load()) {
flash_cmd_.store(false);
return;
}
std::this_thread::sleep_for(std::chrono::milliseconds(2));
} while (!completion);
rsm_.store(ROBOT_ESTOP);
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::calibrateZeroQ(const std::string &joint_name) {
auto motor = motor_manager_->getMotor(joint_name);
motor->calibrateZeroQ();
}
template<int DOF>
feat:add move delta J and touch control api
2025-08-28 09:39:59 +08:00
void HumanoidRobot<DOF>::moveJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d pose, double vel, double acc) {
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
}
if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
rsm_.store(ROBOT_RUNNING);
// update m_state_
Eigen::Vector<double, DOF> q_init;
auto q_map = getJointQ();
q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"],
q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"];
LOG(INFO) << "q_init: " << q_init;
m_state_->SetQ(q_init);
m_robot_->ComputeForwardKinematics(m_state_);
Eigen::Matrix4d T_target = Eigen::Matrix4d::Identity();
T_target.block<3,3>(0,0) = eulerZYXToRotationMatrix(pose.euler().rx(), pose.euler().ry(), pose.euler().rz()); // 输入为弧度
T_target(0,3) = pose.position().x();
T_target(1,3) = pose.position().y();
T_target(2,3) = pose.position().z();
cmvr::ctrl::PoseTarget target;
target.T_target = T_target;
target.w_posrot = 0.5;
target.weight = 1.0;
target.link_name = ee_link;
// slove ik
Eigen::Vector<double, DOF> q_cmd;
bool ok = m_cctrl_->compute(m_state_, base_link, {target}, 0.002, ctrl::CartesianController<DOF>::Mode::Position,
q_cmd, 10000, 1e-6);
if (!ok) {
throw runtime_error("solve IK failed");
}
std::vector<JointPoint> joint_points{
{"R_SHOULDER_P", q_cmd[7]}, {"R_SHOULDER_R", q_cmd[8]},
{"R_SHOULDER_Y", q_cmd[9]}, {"R_ELBOW_R", q_cmd[10]},
{"R_WRIST_P", q_cmd[11]}, {"R_WRIST_Y", q_cmd[12]},
{"R_WRIST_R", q_cmd[13]}
};
for (const auto &j: joint_points) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
// PPM 模式下 这个实际速度会超30% 左右
motor->setQd(vel);
if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) {
motor->setMode(msgs::RUN_MODE_PROFILE_POSITION);
}
motor->setQ(j.rad);
}
}
//3. wait for completion
bool completion = true;
do {
completion = true;
for (const auto &j: joint_points) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
if (!motor->reachedTargetQ()) {
completion = false;
break;
}
}
}
// 4. while waiting, check flash_cmd_, if it is true, set it false then exit
if (flash_cmd_.load()) {
flash_cmd_.store(false);
return;
}
std::this_thread::sleep_for(std::chrono::milliseconds(2));
} while (!completion);
rsm_.store(ROBOT_READY);
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::moveJ_IK(const std::string &base_link, const std::vector<cmvr::ctrl::PoseTarget> &targets, double vel,
double acc) {
feat:add eye hand calibration and pose follow
2025-08-22 16:57:29 +08:00
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
feat:add move delta J and touch control api
2025-08-28 09:39:59 +08:00
}
if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
feat:add eye hand calibration and pose follow
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rsm_.store(ROBOT_RUNNING);
feat:add move delta J and touch control api
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// update m_state_
Eigen::Vector<double, DOF> q_init;
auto q_map = getJointQ();
q_init << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"],
q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"];
LOG(INFO) << "q_init: " << q_init;
m_state_->SetQ(q_init);
m_robot_->ComputeForwardKinematics(m_state_);
// slove ik
Eigen::Vector<double, DOF> q_cmd;
bool ok = m_cctrl_->compute(m_state_, base_link, targets, 0.002, ctrl::CartesianController<DOF>::Mode::Position,
q_cmd, 10000, 1e-6);
feat:add eye hand calibration and pose follow
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if (!ok) {
throw runtime_error("solve IK failed");
}
feat:add move delta J and touch control api
2025-08-28 09:39:59 +08:00
std::vector<JointPoint> joint_points{
{"R_SHOULDER_P", q_cmd[7]}, {"R_SHOULDER_R", q_cmd[8]},
{"R_SHOULDER_Y", q_cmd[9]}, {"R_ELBOW_R", q_cmd[10]},
{"R_WRIST_P", q_cmd[11]}, {"R_WRIST_Y", q_cmd[12]},
{"R_WRIST_R", q_cmd[13]}
};
// for (const auto &j: joint_points) {
// auto motor = motor_manager_->getMotor(j.joint_name);
// if (motor != nullptr) {
// // PPM 模式下 这个实际速度会超30% 左右
// motor->setQd(vel);
// if (motor->getMode() != msgs::RUN_MODE_PROFILE_POSITION) {
// motor->setMode(msgs::RUN_MODE_PROFILE_POSITION);
// }
// motor->setQ(j.rad);
// }
// }
//
// //3. wait for completion
// bool completion = true;
// do {
// completion = true;
// for (const auto &j: joint_points) {
// auto motor = motor_manager_->getMotor(j.joint_name);
// if (motor != nullptr) {
// if (!motor->reachedTargetQ()) {
// completion = false;
// break;
// }
// }
// }
// // 4. while waiting, check flash_cmd_, if it is true, set it false then exit
// if (flash_cmd_.load()) {
// flash_cmd_.store(false);
// return;
// }
// std::this_thread::sleep_for(std::chrono::milliseconds(2));
// } while (!completion);
feat:add eye hand calibration and pose follow
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rsm_.store(ROBOT_READY);
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::moveL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double vel,
double acc) {
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
} else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
rsm_.store(ROBOT_RUNNING);
// TODO:
// 1. interpolate line waypoint by vel and acc
// 2. for each waypoint, call cartesian controller to solve joint positions
// 3. for each waypoint, call motor Cyclic Synchronous Position (CSP) command with Timer
// 4. in the loop, check flash_cmd_, if it is true, set it false then exit
// Eigen::Vector<double, DOF> q_cmd;
// m_state_->SetQ(state_.joint_positions);
// bool ok = m_cctrl_.compute(m_state_, base_link, targets, 1, ctrl::CartesianController<DOF>::Mode::Position, q_cmd, 60, 1e-4);
// if (!ok) {
// throw runtime_error("solve IK failed");
// }
rsm_.store(ROBOT_READY);
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::speedJ(std::string &joint_name, RobotJointIndexDirection dir, double vel, double acc) {
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
} else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
rsm_.store(ROBOT_RUNNING);
// TODO:
// 1. set joint speed and acc
// 2. set joint speed by PROFILE VELOCITY MODE (PVM)
// rsm_.store(ROBOT_READY); -> should not set rsm_ to ready because motor is running
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::speedL(RobotCartesian cart, RobotJointIndexDirection dir, double vel, double acc) {
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
} else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
rsm_.store(ROBOT_RUNNING);
// TODO: ???
// rsm_.store(ROBOT_READY); -> should not set rsm_ to ready because motor is running
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::followJointTrajectory(std::vector<std::vector<JointPoint> > &traj, double dt) {
try {
if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY || rsm_.load() == ROBOT_TOROFF) {
auto ok = check_joint_traj_(traj, dt);
if (!ok) { throw runtime_error("joint traj invalid"); }
rsm_.store(ROBOT_RUNNING);
// TODO: need to optimize callback loop
for (auto i = 0; i < traj.size(); i++) {
if (flash_cmd_.load()) {
flash_cmd_.store(false);
LOG(INFO) << "followJointTrajectory is canceled";
return;
}
servoJ(traj[i], dt);
this_thread::sleep_for(chrono::milliseconds((int) dt));
}
rsm_.store(ROBOT_ESTOP);
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::followPoseTrajectory(std::string &base_link,
std::vector<std::vector<cmvr::ctrl::PoseTarget> > &targets, double dt) {
try {
if (rsm_.load() == ROBOT_RUNNING) {
flash_cmd_.store(true);
eStop();
} else if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
rsm_.store(ROBOT_RUNNING);
// TODO:
// 1. set Timer(dt)
// 2. for each timestamp, use Cyclic Synchronous Position (CSP) Mode to set joint position
// 3. if flash_cmd_ is set, set it to false and exit
// 3. join timer
rsm_.store(ROBOT_READY);
} else {
throw runtime_error("rsm invalid");
}
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
void HumanoidRobot<DOF>::servoJ(std::vector<JointPoint> &joints, double dt) {
for (const auto &j: joints) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
}
motor->setQd(j.vel);
motor->setQ(j.rad);
}
}
rsm_.store(ROBOT_READY);
}
template<int DOF>
void HumanoidRobot<DOF>::servoJ(std::vector<JointPoint> &joints, double vel, double dt) {
if (rsm_.load() == ROBOT_ESTOP || rsm_.load() == ROBOT_READY) {
rsm_.store(ROBOT_RUNNING);
for (const auto &j: joints) {
auto motor = motor_manager_->getMotor(j.joint_name);
if (motor != nullptr) {
motor->setQd(vel);
if (motor->getMode() != msgs::RUN_MODE_CYCLIC_SYNC_POSITION) {
motor->setMode(msgs::RUN_MODE_CYCLIC_SYNC_POSITION);
}
motor->setQ(j.rad);
}
}
rsm_.store(ROBOT_READY);
}
}
template<int DOF>
void HumanoidRobot<DOF>::servoL(std::string &base_link, std::vector<cmvr::ctrl::PoseTarget> &targets, double dt) {
try {
Eigen::Vector<double, DOF> q_cmd;
bool ok = m_cctrl_->compute(m_state_, base_link, targets, 1, ctrl::CartesianController<DOF>::Mode::Position,
q_cmd, 60, 1e-4);
if (!ok) {
LOG(WARNING) << "[HumanoidRobot] (servoL): solve IK failed, id=" << id_;
throw runtime_error("IK failed");
}
std::vector<JointPoint> joints(dof_);
for (size_t i = 0; i < dof_; i++) {
joints[i].joint_name = joint_names_[i];
joints[i].rad = q_cmd[i];
}
servoJ(joints, dt);
} catch (exception &e) {
throw runtime_error(e.what());
}
}
template<int DOF>
bool HumanoidRobot<DOF>::check_joint_traj_(std::vector<std::vector<JointPoint> > &traj, double dt) {
// TODO: to be implemented
return true;
}
feat:add move delta J and touch control api
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template<int DOF>
void HumanoidRobot<DOF>::moveDeltaJ(const std::string &base_link, const std::string &ee_link, msgs::Pose3d delta_pose,
double vel, double acc) {
try {
// 1 : 计算当前位姿
auto cur_pose = fk(base_link, ee_link);
// 2 : 计算目标角度 target pos = cur_pose + delta_pose
cmvr::msgs::Pose3d target_pose;
target_pose.mutable_position()->set_x(cur_pose.position().x() + delta_pose.position().x());
target_pose.mutable_position()->set_y(cur_pose.position().y() + delta_pose.position().y());
target_pose.mutable_position()->set_z(cur_pose.position().z() + delta_pose.position().z());
target_pose.mutable_euler()->set_rx(cur_pose.euler().rx() + delta_pose.euler().rx());
target_pose.mutable_euler()->set_ry(cur_pose.euler().ry() + delta_pose.euler().ry());
target_pose.mutable_euler()->set_rz(cur_pose.euler().rz() + delta_pose.euler().rz());
//3 :
moveJ(base_link, ee_link, target_pose, vel, acc);
} catch (exception &e) {
throw runtime_error(e.what());
}
}
feat:add eye hand calibration and pose follow
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template<int DOF>
void HumanoidRobot<DOF>::update_state_() {
std::lock_guard lock(state_mtx_);
// TODO: set m_state_
// m_state_->SetQ();
// m_state_->SetQdot();
// m_state_->SetQddot();
}
feat:add move delta J and touch control api
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template<int DOF>
Eigen::Matrix3d HumanoidRobot<DOF>::eulerZYXToRotationMatrix(double rx, double ry, double rz) {
Eigen::Matrix3d R_x;
R_x << 1, 0, 0,
0, cos(rx), -sin(rx),
0, sin(rx), cos(rx);
Eigen::Matrix3d R_y;
R_y << cos(ry), 0, sin(ry),
0, 1, 0,
-sin(ry), 0, cos(ry);
Eigen::Matrix3d R_z;
R_z << cos(rz), -sin(rz), 0,
sin(rz), cos(rz), 0,
0, 0, 1;
return R_x * R_y * R_z;
}
template<int DOF>
Eigen::Vector3d HumanoidRobot<DOF>::rotationMatrixToEulerZYX(const Eigen::Matrix3d &R) {
double rx, ry, rz;
// 根据 R = R_x * R_y * R_z
// R = | cy*cz -cy*sz sy |
// | sx*sy*cz + cx*sz -sx*sy*sz + cx*cz -sx*cy |
// | -cx*sy*cz + sx*sz cx*sy*sz + sx*cz cx*cy |
// 提取 ry（绕 Y 的角度）
ry = std::asin(R(0,2)); // R(0,2) = sin(ry)
double cy = std::cos(ry);
if (std::abs(cy) > 1e-6) {
// 正常情况
rx = std::atan2(-R(1,2), R(2,2));
rz = std::atan2(-R(0,1), R(0,0));
} else {
// 万向节锁：cy ≈ 0
rx = 0; // 任意选择
if (ry > 0) {
rz = std::atan2(R(1,0), R(1,1));
} else {
rz = std::atan2(-R(1,0), R(1,1));
}
}
return Eigen::Vector3d(rx, ry, rz);
}
template<int DOF>
cmvr::msgs::Pose3d HumanoidRobot<DOF>::fk(const std::string &base_link, const std::string &ee_link) {
cmvr::msgs::Pose3d pose;
try {
// 获取当前关节角度
Eigen::Vector<double, DOF> q;
auto q_map = getJointQ(); // 类似 moveJ 中获取关节角度
q << q_map["L_SHOULDER_P"], q_map["L_SHOULDER_R"], q_map["L_SHOULDER_Y"], q_map["L_ELBOW_R"],
q_map["L_WRIST_P"], q_map["L_WRIST_Y"], q_map["L_WRIST_R"],
q_map["R_SHOULDER_P"], q_map["R_SHOULDER_R"], q_map["R_SHOULDER_Y"], q_map["R_ELBOW_R"],
q_map["R_WRIST_P"], q_map["R_WRIST_Y"], q_map["R_WRIST_R"];
// 更新状态并计算前向运动学
m_state_->SetQ(q);
m_robot_->ComputeForwardKinematics(m_state_);
// 获取基座和末端索引
auto base_idx = m_robot_->GetLinkIdx(base_link);
auto ee_idx = m_robot_->GetLinkIdx(ee_link);
// 获取变换矩阵
Eigen::Matrix4d T = m_robot_->GetTransformation(m_state_, base_idx, ee_idx);
// 填充 Pose3d
pose.mutable_position()->set_x(T(0,3));
pose.mutable_position()->set_y(T(1,3));
pose.mutable_position()->set_z(T(2,3));
// 将旋转矩阵转换为欧拉角
Eigen::Matrix3d R = T.block<3,3>(0,0);
Eigen::Vector3d euler = rotationMatrixToEulerZYX(R); // 你需要实现或已有此工具函数
pose.mutable_euler()->set_rx(euler(0));
pose.mutable_euler()->set_ry(euler(1));
pose.mutable_euler()->set_rz(euler(2));
} catch (const std::exception &e) {
throw std::runtime_error(std::string("FK计算失败: ") + e.what());
}
return pose;
}
feat:add eye hand calibration and pose follow
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template class cmvr::device::HumanoidRobot<7>;
template class cmvr::device::HumanoidRobot<14>;
template class cmvr::device::HumanoidRobot<20>;
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