feat: add movel,can set tcp speed/jerk and joint max speed
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@ -1,13 +1,11 @@
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//
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// Created by lgv on 11/28/25.
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//
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#pragma once
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#include "ik_solver/include/ik_solver.h"
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#include <pinocchio/multibody/model.hpp>
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#include <pinocchio/multibody/data.hpp>
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#include <pinocchio/spatial/se3.hpp>
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#include <Eigen/Core>
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#include <memory>
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@ -18,49 +16,45 @@ namespace cmvr {
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class PinocchioDlsIKSolver : public IKSolver {
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public:
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/// urdf_path : 机械臂/整机 URDF 路径（可为双臂共基座整机）
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/// base_frame_name : 本 IK 链的基坐标系 frame 名（例如 "BASE" 或 "L_ARM_BASE"）
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/// flange_frame_name : 末端法兰 frame 名
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/// tcp_frame_name : 末端 TCP frame 名（可为空；为空则仅用法兰）
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PinocchioDlsIKSolver(const std::string &urdf_path,
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const std::string &base_frame_name,
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const std::string &flange_frame_name,
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const std::string &tcp_frame_name = std::string(),
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int max_iters = 100,
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double pos_eps = 1e-6,
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double rot_eps = 1e-6,
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double damping = 1e-6);
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const std::string &base_frame_name,
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const std::string &flange_frame_name,
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const std::string &tcp_frame_name = std::string(),
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int max_iters = 100,
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double pos_eps = 1e-6,
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double rot_eps = 1e-6,
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double damping = 1e-4); // 建议默认比 1e-6 大点更稳
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~PinocchioDlsIKSolver() override = default;
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/// 加载 URDF，查找 base / flange / tcp frame，计算本链关节范围和限位
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bool init() override;
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/// target_pose: URDF base 下的目标位姿
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/// is_tcp = true : 目标是 TCP 位姿
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/// is_tcp = false : 目标是法兰位姿
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///
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/// joints_angle:
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/// - 输出：长度 = 本链 DOF（chain_dof_）
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// target_pose: base 坐标系下的目标位姿
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bool ik(const Eigen::Matrix4d &target_pose,
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std::vector<double> &joints_angle,
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bool is_tcp = true) override;
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/// joints_angle:
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/// - 若 size == chain_dof_ : 认为只传本臂关节
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/// - 若 size == model_.nq : 认为传整机关节
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/// cur_pose : URDF base 下当前 TCP/法兰位姿
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// cur_pose: base 坐标系下当前位姿
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bool fk(const std::vector<double> &joints_angle,
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Eigen::Matrix4d &cur_pose,
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bool is_tcp = true) override;
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// MoveL：S 曲线（限 jerk）速度规划 + 微分IK（LOCAL）生成 q(t)
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// target_pose_base: base 下目标位姿（只用平移；姿态保持起点姿态）
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bool moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_base,
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const std::vector<double>& q_start,
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std::vector<std::vector<double>>& q_traj,
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std::vector<double>& t_traj,
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double dt,
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double v_tcp_max, // m/s
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double a_tcp_max, // m/s^2
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double j_tcp_max, // m/s^3
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const std::vector<double>& qd_max, // rad/s, size=chain_dof
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bool is_tcp = true);
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void setMaxIters(int iters) { max_iters_ = iters; }
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void setDamping(double d) { damping_ = d; }
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void setEps(double pos_eps, double rot_eps)
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{
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pos_eps_ = pos_eps;
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rot_eps_ = rot_eps;
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}
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void setEps(double pos_eps, double rot_eps) { pos_eps_ = pos_eps; rot_eps_ = rot_eps; }
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using IKSolver::setTcpTransform;
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using IKSolver::setArmBaseTransform;
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@ -71,13 +65,11 @@ private:
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Eigen::MatrixXd dampedPseudoInverse(const Eigen::MatrixXd &J, double lambda);
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private:
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// 配置
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std::string urdf_path_;
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std::string base_frame_name_;
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std::string flange_frame_name_;
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std::string tcp_frame_name_;
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// Pinocchio 模型
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pinocchio::Model model_;
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std::unique_ptr<pinocchio::Data> data_;
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@ -86,14 +78,19 @@ private:
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pinocchio::FrameIndex tcp_frame_id_{(pinocchio::FrameIndex)(-1)};
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bool has_tcp_{false};
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// 本链在整机 q 向量中的起始 index 和 DOF 数
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// chain range in q and v
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int chain_q_start_{0};
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int chain_dof_{0};
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int chain_v_start_{0};
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int chain_v_dof_{0};
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// 本链的关节限位（从 Pinocchio 模型中截取）
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Eigen::VectorXd q_lower_chain_;
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Eigen::VectorXd q_upper_chain_;
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// base pose cache (PELVIS_S fixed)
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bool base_pose_cached_{false};
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pinocchio::SE3 oM_base_cached_;
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bool initialized_{false};
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int max_iters_;
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File diff suppressed because it is too large
Load Diff
@ -84,109 +84,157 @@ public:
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explicit DualArmViewer(const char *model_path)
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: MuJocoViewer(model_path),
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q_cmd_(7, 0.0) { // 初始 7 维全 0
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}
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q_cmd_(7, 0.0) {}
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// 更新右臂 7 关节的目标角度（rad）
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// 顺序：
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// [R_SHOULDER_P, R_SHOULDER_R, R_SHOULDER_Y,
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// R_ELBOW_R, R_WRIST_P, R_WRIST_Y, R_WRIST_R]
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void moveJ(const Vec7 &q_target) {
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std::lock_guard<std::mutex> lk(mtx_);
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q_cmd_ = q_target; // 只更新目标，不直接改 d->ctrl
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q_cmd_ = q_target;
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traj_active_ = false;
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}
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// 设置整条轨迹（t 单调递增，q.size == t.size）
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void setTrajectory(std::vector<double> t, std::vector<Vec7> q) {
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std::lock_guard<std::mutex> lk(mtx_);
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traj_t_ = std::move(t);
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traj_q_ = std::move(q);
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traj_active_ = false;
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traj_done_ = false;
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traj_idx_ = 0;
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traj_t0_sim_ = -1.0;
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}
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void startTrajectory() {
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std::lock_guard<std::mutex> lk(mtx_);
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traj_active_ = true;
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traj_done_ = false;
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traj_idx_ = 0;
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traj_t0_sim_ = -1.0;
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}
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bool trajDone() const {
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std::lock_guard<std::mutex> lk(mtx_);
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return traj_done_;
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}
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protected:
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// 只在第一次进控制循环时调用
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void initOnce(mjModel *m, mjData *d) override {
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UNUSED_VARIABLE(d);
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// actuator 名（已经有）
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const char *act_names[7] = {
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"R_SHOULDER_P_pos",
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"R_SHOULDER_R_pos",
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"R_SHOULDER_Y_pos",
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"R_ELBOW_R_pos",
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"R_WRIST_P_pos",
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"R_WRIST_Y_pos",
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"R_WRIST_R_pos"
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};
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// 对应的 joint 名
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const char *jnt_names[7] = {
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"R_SHOULDER_P",
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"R_SHOULDER_R",
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"R_SHOULDER_Y",
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"R_ELBOW_R",
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"R_WRIST_P",
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"R_WRIST_Y",
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"R_WRIST_R"
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"R_SHOULDER_P_pos","R_SHOULDER_R_pos","R_SHOULDER_Y_pos",
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"R_ELBOW_R_pos","R_WRIST_P_pos","R_WRIST_Y_pos","R_WRIST_R_pos"
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};
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for (int i = 0; i < 7; ++i) {
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// 1. 保存 actuator id
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int act_id = mj_name2id(m, mjOBJ_ACTUATOR, act_names[i]);
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right_act_ids_[i] = act_id;
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if (act_id < 0) {
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std::cerr << "[DualArmViewer] actuator not found: "
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<< act_names[i] << std::endl;
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}
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// 2. 保存 joint id
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int jnt_id = mj_name2id(m, mjOBJ_JOINT, jnt_names[i]);
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right_jnt_ids_[i] = jnt_id;
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if (jnt_id < 0) {
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std::cerr << "[DualArmViewer] joint not found: "
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<< jnt_names[i] << std::endl;
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std::cerr << "[DualArmViewer] actuator not found: " << act_names[i] << "\n";
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}
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}
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act_ids_inited_ = true;
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}
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// 每个 mj_step 前会被 physics 线程调用
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static inline double clamp(double x, double lo, double hi) {
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return std::max(lo, std::min(hi, x));
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}
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// 线性插值采样（调用前已持锁）
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Vec7 sampleTrajUnlocked(double t) {
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Vec7 out = q_cmd_;
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if (traj_t_.empty() || traj_q_.empty()) return out;
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if (traj_t_.size() != traj_q_.size()) return out;
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const double T = traj_t_.back();
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if (t <= 0.0) return traj_q_.front();
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if (t >= T) return traj_q_.back();
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// 利用 traj_idx_ 单调推进，O(1) 均摊
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while (traj_idx_ + 1 < traj_t_.size() && traj_t_[traj_idx_ + 1] < t) {
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traj_idx_++;
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}
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size_t i = traj_idx_;
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size_t j = i + 1;
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if (j >= traj_t_.size()) return traj_q_.back();
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double t0 = traj_t_[i], t1 = traj_t_[j];
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double u = (t - t0) / std::max(1e-12, (t1 - t0));
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out.resize(7);
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for (int k = 0; k < 7; ++k) {
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out[k] = (1.0 - u) * traj_q_[i][k] + u * traj_q_[j][k];
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}
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return out;
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}
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void controlCallback(mjModel *m, mjData *d) override {
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if (!act_ids_inited_) return;
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Vec7 q_local(7, 0.0);
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{
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std::lock_guard<std::mutex> lk(mtx_);
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q_local = q_cmd_; // 拷贝一份当前目标，避免长时间持锁
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if (traj_active_ && !traj_t_.empty()) {
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if (traj_t0_sim_ < 0.0) traj_t0_sim_ = d->time; // 用仿真时间对齐
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const double t = d->time - traj_t0_sim_;
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q_local = sampleTrajUnlocked(t);
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if (t >= traj_t_.back()) {
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traj_active_ = false;
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traj_done_ = true;
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q_cmd_ = traj_q_.back(); // 结束后保持终点
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}
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} else {
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q_local = q_cmd_;
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}
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}
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// 写 ctrl（同时按 ctrlrange clamp 一下更稳）
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for (int i = 0; i < 7; ++i) {
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int act_id = right_act_ids_[i];
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if (act_id < 0) continue;
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d->ctrl[act_id] = q_local[i];
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}
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// // 示例：读取第 5 个关节（R_WRIST_P）的实际角度并打印
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// int jnt_id = right_jnt_ids_[4];
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// if (jnt_id >= 0) {
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// int qpos_adr = m->jnt_qposadr[jnt_id];
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// double q_actual = d->qpos[qpos_adr];
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// std::cout << "cmd: " << q_local[4]
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// << " act: " << q_actual << std::endl;
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// }
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double lo = m->actuator_ctrlrange[2*act_id + 0];
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double hi = m->actuator_ctrlrange[2*act_id + 1];
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d->ctrl[act_id] = clamp(q_local[i], lo, hi);
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}
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}
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void onReset(mjModel *m, mjData *d) override {
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UNUSED_VARIABLE(m);
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UNUSED_VARIABLE(d);
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std::lock_guard<std::mutex> lk(mtx_);
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q_cmd_.assign(7, 0.0); // reset 时把目标清零，保持 7 维
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q_cmd_.assign(7, 0.0);
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traj_active_ = false;
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traj_done_ = false;
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traj_idx_ = 0;
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traj_t0_sim_ = -1.0;
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traj_t_.clear();
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traj_q_.clear();
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}
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private:
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std::array<int, 7> right_act_ids_{}; // 右臂 7 个 actuator id
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std::array<int, 7> right_jnt_ids_{}; // 右臂 7 个 joint id（新加）
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std::array<int, 7> right_act_ids_{};
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bool act_ids_inited_{false};
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Vec7 q_cmd_; // 当前命令目标角（始终 7 维）
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mutable std::mutex mtx_; // 保护 q_cmd_
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mutable std::mutex mtx_;
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Vec7 q_cmd_;
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// trajectory
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std::vector<double> traj_t_;
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std::vector<Vec7> traj_q_;
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bool traj_active_{false};
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bool traj_done_{false};
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size_t traj_idx_{0};
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double traj_t0_sim_{-1.0};
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};
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// TEST(SRS_IK_TEST, SRS_IK_SLOVER_TEST) {
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// using std::cout;
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// using std::endl;
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@ -878,3 +926,239 @@ TEST(SRS_IK_TEST, TR_TEST) {
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}
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#include <fstream>
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#include <iomanip>
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// 计算 TCP 位置/速度/加速度（用中心差分，端点用前向/后向差分）
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static bool build_tcp_pva(cmvr::PinocchioDlsIKSolver& solver,
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const std::vector<double>& t,
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const std::vector<std::vector<double>>& q,
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std::vector<Eigen::Vector3d>& p,
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std::vector<Eigen::Vector3d>& v,
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std::vector<Eigen::Vector3d>& a,
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bool is_tcp=true)
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{
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const size_t N = std::min(t.size(), q.size());
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if (N < 3) return false;
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p.assign(N, Eigen::Vector3d::Zero());
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v.assign(N, Eigen::Vector3d::Zero());
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a.assign(N, Eigen::Vector3d::Zero());
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// p(t)
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for (size_t i = 0; i < N; ++i) {
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Eigen::Matrix4d T;
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if (!solver.fk(q[i], T, is_tcp)) return false;
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p[i] = T.block<3,1>(0,3);
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}
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auto safe_dt = [&](double dt) { return (dt > 1e-9) ? dt : 1e-9; };
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// v(t) : 中心差分
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{
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double dt0 = safe_dt(t[1] - t[0]);
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v[0] = (p[1] - p[0]) / dt0;
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for (size_t i = 1; i + 1 < N; ++i) {
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double dt = safe_dt(t[i+1] - t[i-1]);
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v[i] = (p[i+1] - p[i-1]) / dt;
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}
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double dtn = safe_dt(t[N-1] - t[N-2]);
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v[N-1] = (p[N-1] - p[N-2]) / dtn;
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}
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// a(t) : 对 v 再中心差分
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{
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double dt0 = safe_dt(t[1] - t[0]);
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a[0] = (v[1] - v[0]) / dt0;
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for (size_t i = 1; i + 1 < N; ++i) {
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double dt = safe_dt(t[i+1] - t[i-1]);
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a[i] = (v[i+1] - v[i-1]) / dt;
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}
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double dtn = safe_dt(t[N-1] - t[N-2]);
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a[N-1] = (v[N-1] - v[N-2]) / dtn;
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}
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return true;
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}
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static void write_tcp_pva_csv(const std::string& path,
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const std::vector<double>& t,
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const std::vector<Eigen::Vector3d>& p,
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const std::vector<Eigen::Vector3d>& v,
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const std::vector<Eigen::Vector3d>& a)
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{
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const size_t N = std::min({t.size(), p.size(), v.size(), a.size()});
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std::ofstream os(path);
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os << "t,px,py,pz,vx,vy,vz,ax,ay,az,speed,acc\n";
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for (size_t i = 0; i < N; ++i) {
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os << std::setprecision(15) << t[i] << ","
|
||||
<< p[i].x() << "," << p[i].y() << "," << p[i].z() << ","
|
||||
<< v[i].x() << "," << v[i].y() << "," << v[i].z() << ","
|
||||
<< a[i].x() << "," << a[i].y() << "," << a[i].z() << ","
|
||||
<< v[i].norm() << "," << a[i].norm()
|
||||
<< "\n";
|
||||
}
|
||||
}
|
||||
static void write_qtraj_csv(const std::string& path,
|
||||
const std::vector<double>& t,
|
||||
const std::vector<std::vector<double>>& q) {
|
||||
std::ofstream os(path);
|
||||
os << "t,q1,q2,q3,q4,q5,q6,q7\n";
|
||||
for (size_t i = 0; i < t.size() && i < q.size(); ++i) {
|
||||
os << std::setprecision(15) << t[i];
|
||||
for (int k = 0; k < 7; ++k) os << "," << q[i][k];
|
||||
os << "\n";
|
||||
}
|
||||
}
|
||||
|
||||
static void print_tcp_speed_stats(cmvr::PinocchioDlsIKSolver& solver,
|
||||
const std::vector<double>& t,
|
||||
const std::vector<std::vector<double>>& q,
|
||||
bool is_tcp=true) {
|
||||
if (t.size() < 3 || q.size() < 3) return;
|
||||
|
||||
bool has_prev = false;
|
||||
Eigen::Vector3d p_prev = Eigen::Vector3d::Zero();
|
||||
double t_prev = 0.0;
|
||||
|
||||
double vmin = 1e100, vmax = 0.0, vsum = 0.0;
|
||||
size_t cnt = 0;
|
||||
|
||||
for (size_t i = 0; i < q.size(); ++i) {
|
||||
Eigen::Matrix4d T;
|
||||
if (!solver.fk(q[i], T, is_tcp)) continue;
|
||||
|
||||
Eigen::Vector3d p = T.block<3,1>(0,3);
|
||||
|
||||
if (has_prev) {
|
||||
double dt = t[i] - t_prev;
|
||||
if (dt > 1e-9) {
|
||||
double v = (p - p_prev).norm() / dt;
|
||||
vmin = std::min(vmin, v);
|
||||
vmax = std::max(vmax, v);
|
||||
vsum += v;
|
||||
cnt++;
|
||||
|
||||
// 想看过程就降低频率打印
|
||||
if ((cnt % 1) == 0) {
|
||||
std::cerr << "[tcp] i=" << i << " v=" << v << " m/s\n";
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
p_prev = p;
|
||||
t_prev = t[i];
|
||||
has_prev = true;
|
||||
}
|
||||
|
||||
if (cnt) {
|
||||
std::cerr << "TCP speed stats (from t_traj): "
|
||||
<< "min=" << vmin
|
||||
<< " avg=" << (vsum / (double)cnt)
|
||||
<< " max=" << vmax
|
||||
<< " [m/s]\n";
|
||||
}
|
||||
}
|
||||
|
||||
TEST(SRS_IK_TEST, MOVEL_S_CURVE_LOCAL_RUN_MUJOCO) {
|
||||
// 让输出不被缓冲（gtest/ctest 环境下更容易看到）
|
||||
std::cerr.setf(std::ios::unitbuf);
|
||||
|
||||
const auto project_root = find_project_root();
|
||||
const auto model_path = (project_root / "model/xiaoyan_description/dual_arm.xml").string();
|
||||
const auto csv_path = (project_root / "data/ik_movel_scurve.csv").string();
|
||||
const auto tcp_csv_path = (project_root / "data/ik_movel_scurve_tcp.csv").string();
|
||||
|
||||
|
||||
DualArmViewer viewer(model_path.c_str());
|
||||
|
||||
std::thread ctrl_thread([&viewer, &csv_path,&tcp_csv_path]() {
|
||||
using namespace std::chrono_literals;
|
||||
std::this_thread::sleep_for(3s);
|
||||
|
||||
cmvr::PinocchioDlsIKSolver solver(
|
||||
"/home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm.urdf",
|
||||
"PELVIS_S",
|
||||
"R_WRIST_R_S",
|
||||
"R_FINGER_TIP_FIXED"
|
||||
);
|
||||
|
||||
LawbaIKSolver solver_1;
|
||||
if (!solver.init()) return;
|
||||
|
||||
// 起点关节
|
||||
// std::vector<double> q_start = {-0.424743, 0.759386, 1.80129, 2.03728, -1.34668, 0.0560845, -0.26};
|
||||
std::vector<double> q_start = {0.25, 1.00, M_PI / 2, M_PI / 2, -M_PI / 2, 0, 0};
|
||||
// std::vector<double> q_start = {0, 1.00, M_PI / 2, M_PI / 2, -M_PI / 2, 0, 0};
|
||||
|
||||
|
||||
// 起点位姿（base下）
|
||||
Eigen::Matrix4d T0;
|
||||
if (!solver_1.fk(q_start, T0, true)) return;
|
||||
|
||||
std::cout << T0 << std::endl;
|
||||
|
||||
// 目标位姿：base X 方向走 0.25m，姿态保持起点
|
||||
Eigen::Matrix4d Tg = T0;
|
||||
Tg(2,3) += 0.3;
|
||||
Eigen::Vector3d dp_check = Tg.block<3,1>(0,3) - T0.block<3,1>(0,3);
|
||||
std::cerr << "dp(base)=" << dp_check.transpose() << "\n";
|
||||
|
||||
// 轨迹生成参数（生成 dt 不必极小，1ms~2ms 足够；真正平滑靠 S 曲线 + MuJoCo 伺服滤波）
|
||||
const double dt_gen = 0.002;
|
||||
const double v_tcp = 0.33;
|
||||
const double a_tcp = 10.0;
|
||||
const double j_tcp = 10.00;
|
||||
std::vector<double> qd_max(7, 3.0);
|
||||
|
||||
std::vector<std::vector<double>> q_traj;
|
||||
std::vector<double> t_traj;
|
||||
|
||||
|
||||
if (!solver.moveL_SCurveLocal(Tg, q_start, q_traj, t_traj,
|
||||
dt_gen, v_tcp, a_tcp, j_tcp, qd_max, true)) {
|
||||
std::cerr << "moveL_SCurveLocal failed\n";
|
||||
return;
|
||||
}
|
||||
|
||||
std::cerr << "traj gen samples=" << q_traj.size()
|
||||
<< " T=" << (t_traj.empty()?0.0:t_traj.back()) << "s\n";
|
||||
|
||||
write_qtraj_csv(csv_path, t_traj, q_traj);
|
||||
|
||||
std::vector<Eigen::Vector3d> p, v, a;
|
||||
if (build_tcp_pva(solver, t_traj, q_traj, p, v, a, true)) {
|
||||
write_tcp_pva_csv(tcp_csv_path, t_traj, p, v, a);
|
||||
std::cerr << "saved tcp csv: " << tcp_csv_path << "\n";
|
||||
} else {
|
||||
std::cerr << "build_tcp_pva failed\n";
|
||||
}
|
||||
std::cerr << "saved csv: " << csv_path << "\n";
|
||||
|
||||
// 正确的 TCP 速度统计（用 t_traj）
|
||||
print_tcp_speed_stats(solver, t_traj, q_traj, true);
|
||||
|
||||
// 把轨迹交给 viewer：在 controlCallback 内用 d->time 插值执行（不会线程抖）
|
||||
std::vector<DualArmViewer::Vec7> q7;
|
||||
q7.reserve(q_traj.size());
|
||||
for (auto& qi : q_traj) q7.push_back(qi);
|
||||
|
||||
viewer.setTrajectory(t_traj, std::move(q7));
|
||||
viewer.startTrajectory();
|
||||
|
||||
// 可选：等轨迹跑完再退出线程
|
||||
while (!viewer.trajDone()) {
|
||||
std::this_thread::sleep_for(1ms);
|
||||
}
|
||||
std::cerr << "trajectory finished in MuJoCo.\n";
|
||||
});
|
||||
|
||||
viewer.run();
|
||||
ctrl_thread.join();
|
||||
}
|
||||
|
||||
640
data/ik_movel_scurve.csv
Normal file
640
data/ik_movel_scurve.csv
Normal file
@ -0,0 +1,640 @@
|
||||
t,q1,q2,q3,q4,q5,q6,q7
|
||||
0,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0
|
||||
0.002,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,7.81764306459599e-21,-4.2819706588909e-20
|
||||
0.004,0.250000047042195,0.999999964305901,1.57079634963772,1.57079641818398,-1.5707962911008,-1.30973721143821e-07,4.82598248141182e-08
|
||||
0.006,0.250000235211076,0.99999982152951,1.57079644100897,1.57079678374021,-1.57079614832442,-6.54868594246034e-07,2.4129912422208e-07
|
||||
0.008,0.250000658591965,0.999999500282668,1.57079664659403,1.5707976062408,-1.57079582707771,-1.83363195576805e-06,6.75637549350334e-07
|
||||
0.01,0.250001411272736,0.999998929177322,1.57079701207756,1.57079906846036,-1.570795255973,-3.92921085355073e-06,1.4477947554909e-06
|
||||
0.012,0.25000258734653,0.99999803682564,1.57079758314276,1.57080135316815,-1.57079436362343,-7.203551738256e-06,2.65429040651898e-06
|
||||
0.014,0.250004280915501,0.999996751840161,1.57079840547028,1.57080464312421,-1.57079307864354,-1.19186000405119e-05,4.39164418087522e-06
|
||||
0.016,0.25000658609555,0.999995002834,1.57079952473695,1.5708091210746,-1.57079132964995,-1.83362996337661e-05,6.75637577908229e-06
|
||||
0.018,0.250009597022081,0.99999271842108,1.57080098661413,1.57081496974547,-1.57078904526229,-2.67185921828435e-05,9.84500493277263e-06
|
||||
0.02,0.250013407856765,0.999989827216416,1.5708028367658,1.57082237183621,-1.57078615410418,-3.73274163782182e-05,1.37540514152097e-05
|
||||
0.022,0.250018112795308,0.999986257836435,1.57080512084645,1.57083151001151,-1.57078258480449,-5.04247070559875e-05,1.85800350533061e-05
|
||||
0.024,0.250023806076234,0.999981938899343,1.57080788449854,1.57084256689243,-1.57077826599863,-6.62723942035615e-05,2.44194757411372e-05
|
||||
0.026,0.250030581990672,0.999976799025529,1.57081117334981,1.57085572504638,-1.57077312633007,-8.51324018510532e-05,3.13688934549818e-05
|
||||
0.028,0.25003853489316,0.999970766838012,1.57081503301023,1.57087116697617,-1.57076709445198,-0.00010726664684838,3.95248082699263e-05
|
||||
0.03,0.250047759213451,0.999963770962927,1.57081950906868,1.57088907510791,-1.57076009902904,-0.000132937037528068,4.89837403780863e-05
|
||||
0.032,0.250058349469331,0.999955740030058,1.57082464708937,1.570909631778,-1.57075206873944,-0.000162405472253746,5.98422101085266e-05
|
||||
0.034,0.250070400280452,0.99994660267341,1.57083049260794,1.57093301921902,-1.57074293227694,-0.000195933837854348,7.21967379489743e-05
|
||||
0.036,0.250084006383162,0.999936287531815,1.5708370911273,1.57095941954459,-1.57073261835316,-0.000233784007943978,8.61438445694474e-05
|
||||
0.038,0.250099262646364,0.999924723249592,1.57084448811314,1.57098901473325,-1.57072105570001,-0.000276217841127471,0.000101780050847941
|
||||
0.04,0.250116264088365,0.999911838477235,1.57085272898924,1.57102198661129,-1.57070817307229,-0.000323497179091603,0.000119201877898348
|
||||
0.042,0.250135105894751,0.999897561872151,1.57086185913237,1.5710585168345,-1.57069389925037,-0.000375883844581949,0.000138505847100808
|
||||
0.044,0.250155883437263,0.999881822099435,1.57087192386701,1.571098786869,-1.57067816304314,-0.00043363963926537,0.00015978848013472
|
||||
0.046,0.250178692293689,0.999864547832684,1.5708829684597,1.57114297797095,-1.570660893291,-0.000497026341478108,0.000183146299014672
|
||||
0.048,0.250203628268763,0.999845667754853,1.57089503811314,1.57119127116526,-1.57064201886908,-0.000566305703859452,0.000208675826129587
|
||||
0.05,0.250230787416081,0.999825110559153,1.57090817795997,1.57124384722331,-1.57062146869062,-0.000641739450870957,0.000236473584285414
|
||||
0.052,0.250260266061023,0.999802804949985,1.57092243305629,1.5713008866396,-1.57059917171042,-0.000723589276201169,0.000266636096751719
|
||||
0.054,0.250292160824688,0.999778679643914,1.57093784837481,1.57136256960737,-1.57057505692855,-0.000812116840055811,0.000299259887312595
|
||||
0.056,0.250326568648845,0.999752663370687,1.57095446879778,1.57142907599327,-1.57054905339414,-0.000907583766333395,0.000334441480322304
|
||||
0.058,0.250363586821893,0.999724684874287,1.57097233910957,1.57150058531089,-1.57052109020937,-0.00101025163968617,0.000372277400766168
|
||||
0.06,0.250403313005836,0.999694672914021,1.57099150398891,1.57157727669336,-1.5704910965336,-0.00112038200246638,0.000412864174327192
|
||||
0.062,0.25044584526427,0.999662556265657,1.57101200800096,1.5716593288649,-1.57045900158762,-0.00123823635155769,0.000456298327459026
|
||||
0.064,0.250491282091387,0.999628263722593,1.57103389558887,1.57174692011132,-1.57042473465814,-0.00136407613509177,0.000502676387465836
|
||||
0.066,0.250539722441992,0.999591724097063,1.57105721106516,1.57184022824955,-1.57038822510237,-0.00149816274904988,0.000552094882589778
|
||||
0.068,0.250591265762532,0.999552866221383,1.57108199860279,1.57193943059608,-1.57034940235275,-0.00164075753374931,0.000604650342106746
|
||||
0.07,0.250646012023148,0.999511618949238,1.5711083022258,1.57204470393445,-1.57030819592188,-0.00179212177021461,0.000660439296431168
|
||||
0.0720000000000001,0.250704061750741,0.999467911156996,1.57113616579972,1.57215622448168,-1.57026453540759,-0.00195251667643345,0.000719558277230644
|
||||
0.0740000000000001,0.250765516063049,0.999421671745072,1.57116563302162,1.57227416785368,-1.57021835049818,-0.00212220340349683,0.000782103817551267
|
||||
0.0760000000000001,0.250830476703752,0.999372829639314,1.57119674740979,1.57239870902967,-1.57016957097776,-0.00230144303162356,0.000848172451954547
|
||||
0.0780000000000001,0.25089904607859,0.999321313792438,1.57122955229316,1.57253002231557,-1.57011812673182,-0.00249049656606878,0.000917860716666876
|
||||
0.0800000000000001,0.2509713272925,0.999267053185489,1.57126409080029,1.57266828130632,-1.57006394775295,-0.00268962493291619,0.000991265149742551
|
||||
0.0820000000000001,0.251047424187779,0.999209976829343,1.57130040584808,1.57281365884732,-1.57000696414665,-0.00289908897475372,0.00106848229124141
|
||||
0.0840000000000001,0.251127441383262,0.999150013766239,1.57133854013004,1.57296632699468,-1.5699471061374,-0.00311914944623245,0.0011496086834222
|
||||
0.0860000000000001,0.251211484314529,0.999087093071346,1.57137853610431,1.57312645697461,-1.56988430407483,-0.00335006700950822,0.00123474087095284
|
||||
0.0880000000000001,0.251299659275128,0.99902114385437,1.57142043598122,1.57329421914172,-1.56981848844003,-0.00359210222956575,0.00132397540113883
|
||||
0.0900000000000001,0.251392073458832,0.998952095261184,1.57146428171049,1.5734697829363,-1.56974958985209,-0.0038455155694246,0.00141740882417099
|
||||
0.0920000000000001,0.251488835002912,0.998879876475496,1.57151011496812,1.57365331684066,-1.56967753907476,-0.00411056738522674,0.00151513769339408
|
||||
0.0940000000000001,0.251590053032448,0.998804416720549,1.57155797714279,1.57384498833438,-1.56960226702328,-0.00438751792120491,0.00161725856559739
|
||||
0.0960000000000001,0.251695837705656,0.998725645260854,1.57160790932195,1.57404496384861,-1.56952370477136,-0.00467662730453138,0.00172386800132903
|
||||
0.0980000000000001,0.251806300260255,0.998643491403947,1.57165995227745,1.57425340871934,-1.56944178355838,-0.00497815554004634,0.00183506256523528
|
||||
0.1,0.251921553060863,0.998557884502184,1.57171414645076,1.57447048713966,-1.56935643479667,-0.00529236250486517,0.0019509388264265
|
||||
0.102,0.252041709647417,0.998468753954562,1.57177053193782,1.57469636211105,-1.56926759007904,-0.00561950794286387,0.00207159335887147
|
||||
0.104,0.252166884784642,0.998376029208569,1.57182914847344,1.57493119539363,-1.56917518118641,-0.0059598514590416,0.00219712274182149
|
||||
0.106,0.25229719451254,0.998279639762064,1.57189003541517,1.57517514745542,-1.56907914009568,-0.00631365251375951,0.00232762356026625
|
||||
0.108,0.252432756197929,0.998179515165185,1.57195323172691,1.57542837742064,-1.56897939898771,-0.0066811704168546,0.0024631924054231
|
||||
0.11,0.252573688587014,0.998075585022278,1.57201877596185,1.57569104301691,-1.5688758902555,-0.0070626643216276,0.00260392587526158
|
||||
0.112,0.252720111858995,0.997967778993866,1.57208670624509,1.5759633005216,-1.56876854651255,-0.0074583932187034,0.00274992057506516
|
||||
0.114,0.252872147680733,0.997856026798628,1.57215706025575,1.57624530470706,-1.56865730060137,-0.0078686159297628,0.00290127311803202
|
||||
0.116,0.25302991926244,0.997740258215417,1.5722298752085,1.57653720878493,-1.56854208560217,-0.00829359110114375,0.00305808012591695
|
||||
0.118,0.253193551414429,0.997620403085292,1.57230518783472,1.57683916434941,-1.5684228348418,-0.00873357719731075,0.00322043822971631
|
||||
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||||
1.176,1.24243618706121,0.84142756914041,1.36719231689869,1.53470188495356,-1.50465434725262,-0.752899077240259,0.406327142661678
|
||||
1.178,1.24287711811859,0.841501198810742,1.3670586121764,1.53445672567929,-1.50480972660577,-0.753000982306131,0.40653769148663
|
||||
1.18,1.24329976404644,0.841573771641116,1.3669325440401,1.53422125454306,-1.50496260208973,-0.753098710771384,0.406742294880522
|
||||
1.182,1.24370450173015,0.841645299095757,1.36681395362915,1.53399528637561,-1.50511301355677,-0.753192361150013,0.406941071058498
|
||||
1.184,1.24409170816384,0.841715793316559,1.36670268190497,1.53377863481795,-1.50526100141329,-0.753282030938258,0.407134138339041
|
||||
1.186,1.2444617604426,0.841785267095912,1.36659856966404,1.53357111237027,-1.50540660660101,-0.753367816655808,0.407321615140978
|
||||
1.188,1.24481503575497,0.841853733850056,1.36650145755036,1.53337253043985,-1.50554987057857,-0.753449813886178,0.407503619980626
|
||||
1.19,1.24515191137579,0.841921207592991,1.36641118606762,1.53318269938794,-1.50569083530348,-0.753528117316275,0.407680271469047
|
||||
1.192,1.24547276465931,0.841987702910916,1.36632759559081,1.53300142857566,-1.50582954321467,-0.753602820775133,0.407851688309426
|
||||
1.194,1.24577797303256,0.84205323493723,1.3662505263775,1.53282852640891,-1.50596603721534,-0.753674017271826,0.408017989294562
|
||||
1.196,1.24606791398898,0.842117819328075,1.36617981857863,1.53266380038222,-1.50610036065629,-0.753741799032538,0.408179293304461
|
||||
1.198,1.24634296508234,0.842181472238438,1.36611531224901,1.5325070571216,-1.5062325573197,-0.753806257536802,0.408335719304042
|
||||
1.2,1.24660350392086,0.842244210298807,1.36605684735739,1.53235810242644,-1.50636267140326,-0.753867483552901,0.40848738634093
|
||||
1.202,1.2468499081616,0.842306050592389,1.36600426379612,1.53221674131033,-1.5064907475048,-0.753925567172422,0.408634413543361
|
||||
1.204,1.24708255550504,0.842367010632886,1.36595740139057,1.53208277804085,-1.50661683060729,-0.75398059784396,0.408776920118163
|
||||
1.206,1.24730182368995,0.842427108342838,1.36591609990804,1.53195601617838,-1.50674096606424,-0.754032664405981,0.408915025348839
|
||||
1.208,1.24750809048836,0.842486362032532,1.3658801990665,1.53183625861389,-1.50686319958554,-0.754081855118823,0.409048848593727
|
||||
1.21,1.24770173370084,0.842544790379478,1.36584953854289,1.53172330760569,-1.50698357722372,-0.754128257695848,0.409178509284243
|
||||
1.212,1.24788313115192,0.842602412408456,1.36582395798112,1.53161696481513,-1.50710214536056,-0.754171959333733,0.409304126923211
|
||||
1.214,1.24805266068571,0.842659247472135,1.36580329699978,1.53151703134132,-1.50721895069413,-0.754213046741899,0.409425821083258
|
||||
1.216,1.24821070016173,0.842715315232263,1.36578739519954,1.53142330775479,-1.50733404022628,-0.754251606171082,0.409543711405286
|
||||
1.218,1.24835762745086,0.842770635641438,1.36577609217025,1.53133559413011,-1.50744746125043,-0.754287723441032,0.40965791759702
|
||||
1.22,1.24849382043154,0.84282522892545,1.36576922749773,1.53125369007755,-1.50755926133983,-0.754321483967352,0.40976855943162
|
||||
1.222,1.24861965698609,0.842879115566204,1.3657666407703,1.53117739477359,-1.50766948833617,-0.754352972787462,0.409875756746351
|
||||
1.224,1.24873551499719,0.842932316285219,1.36576817158503,1.53110650699049,-1.50777819033864,-0.754382274585697,0.409979629441333
|
||||
1.226,1.24884177234458,0.842984852027713,1.36577365955371,1.5310408251248,-1.5078854156933,-0.754409473717524,0.410080297478335
|
||||
1.228,1.2489388069018,0.843036743947263,1.36578294430856,1.5309801472248,-1.5079912129829,-0.754434654232895,0.41017788087964
|
||||
1.23,1.24902699653322,0.843088013391052,1.36579586550765,1.53092427101694,-1.5080956310171,-0.754457899898719,0.410272499726963
|
||||
1.232,1.24910671909113,0.843138681885699,1.36581226284012,1.53087299393125,-1.50819871882297,-0.754479294220455,0.41036427416042
|
||||
1.234,1.24917835241298,0.843188771123668,1.36583197603112,1.53082611312563,-1.50830052563602,-0.754498920462826,0.410453324377559
|
||||
1.236,1.24924227431881,0.843238302950269,1.36585484484644,1.53078342550923,-1.50840110089151,-0.75451686166966,0.410539770632438
|
||||
1.238,1.24929886260878,0.84328729935124,1.36588070909702,1.53074472776468,-1.50850049421619,-0.754533200682845,0.410623733234751
|
||||
1.24,1.24934849506082,0.843335782440916,1.3659094086431,1.53070981636931,-1.5085987554204,-0.754548020160395,0.410705332549013
|
||||
1.242,1.2493915494285,0.843383774450984,1.36594078339824,1.53067848761535,-1.50869593449056,-0.75456140259365,0.410784688993778
|
||||
1.244,1.24942840343891,0.843431297719827,1.36597467333298,1.53065053762905,-1.50879208158206,-0.754573430323575,0.41086192304092
|
||||
1.246,1.2494594347908,0.843478374682451,1.36601091847839,1.53062576238879,-1.50888724701248,-0.754584185556186,0.410937155214947
|
||||
1.248,1.24948502115274,0.843525027861008,1.36604935892932,1.53060395774215,-1.50898148125526,-0.754593750377081,0.411010506092364
|
||||
1.25,1.24950554016147,0.843571279855894,1.36608983484744,1.53058491942187,-1.50907483493368,-0.754602206765096,0.411082096301083
|
||||
1.252,1.24952136942035,0.84361715333745,1.36613218646405,1.53056844306085,-1.50916735881527,-0.754609636605061,0.411152046519869
|
||||
1.254,1.24953288649799,0.843662671038239,1.3661762540827,1.53055432420606,-1.50925910380655,-0.754616121699682,0.411220477477834
|
||||
1.256,1.24954046892688,0.843707855745919,1.36622187808155,1.53054235833139,-1.50935012094823,-0.754621743780525,0.411287509953967
|
||||
1.258,1.24954449420231,0.8437527302967,1.36626889891548,1.53053234084951,-1.50944046141066,-0.754626584518116,0.411353264776711
|
||||
1.26,1.24954533978126,0.843797317569393,1.36631715711812,1.53052406712261,-1.5095301764898,-0.754630725531152,0.411417862823571
|
||||
1.262,1.24954338308151,0.843841640480046,1.36636649330347,1.53051733247218,-1.50961931760349,-0.754634248394821,0.411481425020772
|
||||
1.264,1.24953900148085,0.843885721977166,1.36641674816747,1.53051193218766,-1.50970793628806,-0.754637234648237,0.411544072342946
|
||||
1.266,1.24953257231636,0.843929585037538,1.36646776248926,1.53050766153409,-1.50979608419544,-0.75463976580098,0.411605925812866
|
||||
1.268,1.24952447288388,0.843973252662619,1.36651937713228,1.5305043157587,-1.50988381309052,-0.75464192333875,0.411667106501208
|
||||
1.27,1.24951508043758,0.844016747875533,1.36657143304511,1.53050169009648,-1.50997117484896,-0.754643788728126,0.411727735526362
|
||||
1.272,1.2495047721896,0.844060093718649,1.36662377126211,1.53049957977467,-1.51005822145539,-0.754645443420441,0.411787934054275
|
||||
1.274,1.2494939253099,0.844103313251744,1.36667623290391,1.53049778001618,-1.51014500500192,-0.75464696885476,0.411847823298323
|
||||
1.276,1.2494939253099,0.844103313251744,1.36667623290391,1.53049778001618,-1.51014500500192,-0.75464696885476,0.411847823298323
|
||||
|
640
data/ik_movel_scurve_tcp.csv
Normal file
640
data/ik_movel_scurve_tcp.csv
Normal file
@ -0,0 +1,640 @@
|
||||
t,px,py,pz,vx,vy,vz,ax,ay,az,speed,acc
|
||||
0,0.559809314390095,-0.292914056655931,0.00429163619695835,0,0,0,2.08166817117217e-10,-5.55111512312578e-11,0.00499999886285907,0,0.00499999886285907
|
||||
0.002,0.559809314390095,-0.292914056655931,0.00429163619695835,4.16333634234434e-13,-1.11022302462516e-13,9.99999772571813e-06,-1.36696209906972e-09,1.10328413072125e-09,0.0124999965187694,9.99999772571814e-06,0.0124999965187696
|
||||
0.004,0.559809314390096,-0.292914056655932,0.00429167619694926,-5.4678483962789e-12,4.413136522885e-12,4.99999860750777e-05,-1.20112253476634e-08,8.56953397132543e-09,0.0299999887414665,4.99999860750782e-05,0.0299999887414701
|
||||
0.006,0.559809314390073,-0.292914056655914,0.00429183619690265,-4.76285677564192e-11,3.41671135828392e-11,0.000129999952691584,-4.52901605108025e-08,3.16136006262013e-08,0.0499999728365355,0.000129999952691597,0.049999972836566
|
||||
0.008,0.559809314389906,-0.292914056655795,0.00429219619676002,-1.86628490439489e-10,1.3086753902769e-10,0.00024999987742122,-1.1639300634414e-07,8.06472943981618e-08,0.0699999443184302,0.000249999877421324,0.0699999443185734
|
||||
0.01,0.559809314389326,-0.29291405665539,0.00429283619641234,-5.13200593132979e-10,3.56756291175486e-10,0.000409999729965305,-2.40391040406962e-07,1.65985281075365e-07,0.0899998981573197,0.000409999729965781,0.0899998981577938
|
||||
0.012,0.559809314387853,-0.292914056654368,0.00429383619567988,-1.14819265206734e-09,7.9480866332915e-10,0.000609999470050498,-4.32362479152459e-07,2.97990798703296e-07,0.109999829320771,0.000609999470052097,0.109999829322025
|
||||
0.014,0.559809314384734,-0.292914056652211,0.00429527619429254,-2.24265050974282e-09,1.54871948598867e-09,0.00084999904724839,-7.07371661246014e-07,4.86940349153641e-07,0.129999732739056,0.000849999047252759,0.129999732741892
|
||||
0.016,0.559809314378882,-0.292914056648173,0.00429723619186888,-3.97767929705139e-09,2.74257005994372e-09,0.00112999840100672,-1.08041353641397e-06,7.43113903745039e-07,0.14999960340576,0.00112999840101705,0.149999603411492
|
||||
0.018,0.559809314368823,-0.292914056641241,0.00429979618789657,-6.56430465539869e-09,4.52117510096883e-09,0.00144999746087143,-1.56639978765582e-06,1.07681571992479e-06,0.169999436288453,0.00144999746089334,0.16999943629908
|
||||
0.02,0.559809314352625,-0.292914056630088,0.00430303618171236,-1.02432784476747e-08,7.04983293964289e-09,0.00180999614616053,-2.18026985354669e-06,1.49824250228469e-06,0.189999226298323,0.00180999614620325,0.18999922631674
|
||||
0.022,0.55980931432785,-0.292914056613041,0.00430703617248121,-1.52853840695854e-08,1.05141451101076e-08,0.00220999436606472,-2.93699092823729e-06,2.01759442486349e-06,0.209998968422019,0.0022099943661426,0.209998968452249
|
||||
0.024,0.559809314291484,-0.292914056588032,0.00431187615917662,-2.19912421606238e-08,1.51202106390968e-08,0.00264999201984861,-3.85140530578808e-06,2.64506125335906e-06,0.229998657628842,0.00264999201998299,0.229998657676298
|
||||
0.026,0.559809314239885,-0.29291405655256,0.0043176361405606,-3.06910052927378e-08,2.10943901235438e-08,0.00312998899658009,-4.93836221915344e-06,3.3907529561894e-06,0.249998288861207,0.00312998899680165,0.249998288932976
|
||||
0.028,0.55980931416872,-0.292914056503654,0.00432439611516294,-4.17446910372376e-08,2.86832224638544e-08,0.00364998517529344,-6.2126831457121e-06,4.26476215453774e-06,0.269997857087547,0.00364998517564486,0.269997857192707
|
||||
0.03,0.559809314072906,-0.292914056437828,0.00433223608126178,-5.55417378755862e-08,3.81534387416948e-08,0.00420998042493028,-7.68914099058547e-06,5.27718493903428e-06,0.289997357245073,0.00420998042546955,0.289997357395026
|
||||
0.032,0.559809313946553,-0.292914056351041,0.00434123603686266,-7.25012549995795e-08,4.97919622199916e-08,0.00480997460427373,-9.38256417004622e-06,6.43800637800672e-06,0.309996784283138,0.00480997460507786,0.309996784491979
|
||||
0.034,0.559809313782901,-0.29291405623866,0.00435147597967887,-9.30719945557711e-08,6.39054642537217e-08,0.00544996756206284,-1.13076562002767e-05,7.75718725365414e-06,0.329996133184053,0.00544996756323223,0.329996133468961
|
||||
0.036,0.559809313574265,-0.292914056095419,0.00436303590711092,-1.17731879800686e-07,8.08207112346081e-08,0.00612995913700994,-1.34790512085203e-05,9.24469528706949e-06,0.349995398886762,0.00612995913867331,0.349995399268409
|
||||
0.038,0.559809313311973,-0.292914055915377,0.00437599581622691,-1.46988199389852e-07,1.00884245402e-07,0.00684994915760989,-1.59114943443228e-05,1.0910331665892e-05,0.36999457630419,0.00684994915992984,0.369994576807185
|
||||
0.04,0.559809312986312,-0.292914055691882,0.00439043570374135,-1.81377857177978e-07,1.24462037898176e-07,0.0076099374422267,-1.86196613682909e-05,1.27638906388672e-05,0.389993660422117,0.00760993744540602,0.389993661075473
|
||||
0.042,0.559809312586462,-0.292914055417529,0.00440643556599582,-2.21466844863016e-07,1.51939807957468e-07,0.00840992379929836,-2.16181517131986e-05,1.48151699241872e-05,0.409992646190765,0.00840992380358694,0.409992647028382
|
||||
0.044,0.559809312100445,-0.292914055084122,0.00442407539893855,-2.67850464030772e-07,1.83722717594925e-07,0.00924990802698976,-2.49215509340317e-05,1.70738249927193e-05,0.429991528512647,0.00924990803269241,0.42999152957383
|
||||
0.046,0.55980931151506,-0.292914054682638,0.00444343519810378,-3.21153048599143e-07,2.20235107928346e-07,0.0101298899133489,-2.85443821357311e-05,1.95494280486041e-05,0.449990302344056,0.0101298899208339,0.449990303674042
|
||||
0.048,0.559809310815832,-0.292914054203182,0.00446459495859194,-3.82027992573697e-07,2.61920429789342e-07,0.011049869236366,-3.25012447510708e-05,2.22515200709594e-05,0.469988962643018,0.0110498692460741,0.469988964293547
|
||||
0.05,0.559809309986948,-0.292914053634956,0.00448763467504924,-4.51158027603426e-07,3.09241188212183e-07,0.012009845763921,-3.68066896405672e-05,2.51895275471536e-05,0.48998750432072,0.0120098457763764,0.489987506350614
|
||||
0.052,0.5598093090112,-0.292914052966217,0.00451263434164763,-5.29254751135965e-07,3.62678539977956e-07,0.0130098192536489,-4.14751427646464e-05,2.83727902283814e-05,0.509985922289221,0.0130098192694695,0.509985924764978
|
||||
0.054,0.559809307869929,-0.292914052184242,0.00453967395206384,-6.17058598662012e-07,4.22732349125709e-07,0.0140497894530779,-4.65210647782043e-05,3.18105680685576e-05,0.529984211490065,0.014049789472988,0.529984214486495
|
||||
0.056,0.559809306542966,-0.292914051275288,0.00456883349945994,-7.15339010248783e-07,4.89920812252187e-07,0.0151297560996091,-5.19589302139244e-05,3.55119926520597e-05,0.549982366863064,0.015129756124452,0.549982370463936
|
||||
0.058,0.559809305008573,-0.292914050224559,0.00460019297646228,-8.2489431951771e-07,5.64780319733948e-07,0.0162497189205302,-5.78031303377634e-05,3.9486136582667e-05,0.569980383320275,0.0162497189512823,0.569980387618982
|
||||
0.06,0.559809303243389,-0.292914049016167,0.00463383237514206,-9.46551531599837e-07,6.47865358582855e-07,0.0174096776328902,-6.4068056415678e-05,4.37418989918114e-05,0.589978255735589,0.0174096776706764,0.589978260835836
|
||||
0.062,0.559809301222367,-0.292914047633097,0.00466983168699384,-1.08116654518042e-06,7.39747915701194e-07,0.0186096319434725,-7.07681066525189e-05,4.82880437024934e-05,0.609975979047951,0.0186096319895817,0.609975985064467
|
||||
0.064,0.559809298918722,-0.292914046057175,0.00470827090291595,-1.22962395820991e-06,8.41017533392829e-07,0.019849581549082,-7.79175612919402e-05,5.31332824960095e-05,0.629973548184163,0.0198495816049846,0.629973555243421
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|
||||
1.268,0.559631461640246,-0.292937921946358,0.305729065130028,0.00017819909792216,2.34950023603186e-05,0.000249457179593571,-0.000179295571445248,-2.87150893341081e-05,-0.0699994576434936,0.000307466775582276,0.0699996931553385
|
||||
1.27,0.559631817679817,-0.292937875013784,0.305729424045485,0.000177840952741981,2.3439366447775e-05,0.000129458428616003,-0.000178820402929602,-2.69215691406366e-05,-0.0499993052030522,0.000221215490215702,0.0499996322216009
|
||||
1.272,0.559632173004057,-0.292937828188892,0.305729582963742,0.000177483816310442,2.33873160837561e-05,4.94599587813615e-05,-0.0222970491445262,-0.0029395683213973,-0.0299320085141163,0.000185724955588564,0.0374396126603723
|
||||
1.274,0.559632527615082,-0.292937781464519,0.30572962188532,8.86527561638761e-05,1.16810931621858e-05,9.73039455953727e-06,-0.0443709540776104,-0.00584682902093902,-0.0123649896953404,8.99468714920069e-05,0.046431238897141
|
||||
1.276,0.559632527615082,-0.292937781464519,0.30572962188532,0,0,0,-0.044326378081938,-0.00584054658109289,-0.00486519727976863,0,0.0449734357460034
|
||||
|
50
data/planner/plot_tcp.py
Normal file
50
data/planner/plot_tcp.py
Normal file
@ -0,0 +1,50 @@
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
CSV = "/home/lgv/cmvr/0-workspace/cmvr-es/data/ik_movel_scurve_tcp.csv" # 改成你的路径
|
||||
|
||||
data = np.genfromtxt(CSV, delimiter=",", names=True)
|
||||
|
||||
t = data["t"]
|
||||
px, py, pz = data["px"], data["py"], data["pz"]
|
||||
vx, vy, vz = data["vx"], data["vy"], data["vz"]
|
||||
ax, ay, az = data["ax"], data["ay"], data["az"]
|
||||
speed = data["speed"]
|
||||
acc = data["acc"]
|
||||
|
||||
# 位置
|
||||
plt.figure()
|
||||
plt.plot(t, px, label="px")
|
||||
plt.plot(t, py, label="py")
|
||||
plt.plot(t, pz, label="pz")
|
||||
plt.xlabel("t [s]")
|
||||
plt.ylabel("TCP position [m]")
|
||||
plt.title("TCP position (base frame)")
|
||||
plt.grid(True)
|
||||
plt.legend()
|
||||
|
||||
# 速度分量 + 模长
|
||||
plt.figure()
|
||||
plt.plot(t, vx, label="vx")
|
||||
plt.plot(t, vy, label="vy")
|
||||
plt.plot(t, vz, label="vz")
|
||||
plt.plot(t, speed, label="|v|")
|
||||
plt.xlabel("t [s]")
|
||||
plt.ylabel("TCP velocity [m/s]")
|
||||
plt.title("TCP velocity (finite-diff)")
|
||||
plt.grid(True)
|
||||
plt.legend()
|
||||
|
||||
# 加速度分量 + 模长
|
||||
plt.figure()
|
||||
plt.plot(t, ax, label="ax")
|
||||
plt.plot(t, ay, label="ay")
|
||||
plt.plot(t, az, label="az")
|
||||
plt.plot(t, acc, label="|a|")
|
||||
plt.xlabel("t [s]")
|
||||
plt.ylabel("TCP accel [m/s^2]")
|
||||
plt.title("TCP acceleration (finite-diff)")
|
||||
plt.grid(True)
|
||||
plt.legend()
|
||||
|
||||
plt.show()
|
||||
@ -1,63 +1,71 @@
|
||||
import os
|
||||
import re
|
||||
import sys
|
||||
import pandas as pd
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
def main(csv_path: str):
|
||||
# 更健壮的读取
|
||||
df = pd.read_csv(csv_path, sep=None, engine="python", comment="#")
|
||||
if 't' not in df.columns:
|
||||
raise RuntimeError("CSV missing 't' column")
|
||||
CSV_PATH = "/home/lgv/cmvr/0-workspace/cmvr-es/data/ik_movel_scurve.csv" # 改成你的路径，比如 /home/lgv/.../ik_movel_scurve.csv
|
||||
|
||||
# ——严格区分列名——
|
||||
# 允许列名形如：q0, q1, ... | qd0, qd1, ... | qdd0, qdd1, ...
|
||||
def grep(pattern):
|
||||
r = re.compile(pattern)
|
||||
return [c for c in df.columns if r.fullmatch(c)]
|
||||
def load_csv(path: str):
|
||||
# 期望列名：t,q1,q2,q3,q4,q5,q6,q7
|
||||
data = np.genfromtxt(path, delimiter=",", names=True)
|
||||
t = data["t"].astype(float)
|
||||
q = np.vstack([data[f"q{i}"] for i in range(1, 8)]).T.astype(float) # (N,7)
|
||||
return t, q
|
||||
|
||||
q_cols = grep(r"q\d+")
|
||||
qd_cols = grep(r"qd\d+")
|
||||
qdd_cols = grep(r"qdd\d+")
|
||||
def diff_over_time(x: np.ndarray, t: np.ndarray):
|
||||
# x: (N,7), t: (N,)
|
||||
dt = np.diff(t)
|
||||
# 防止 dt=0
|
||||
dt = np.where(dt <= 1e-12, 1e-12, dt)
|
||||
dx = np.diff(x, axis=0)
|
||||
return dx / dt[:, None] # (N-1,7)
|
||||
|
||||
# 如果你的列名不是纯数字后缀（比如 q_joint1），把上面的正则改成更宽松的：
|
||||
# q_cols = [c for c in df.columns if c.startswith("q") and not c.startswith(("qd","qdd"))]
|
||||
# qd_cols = [c for c in df.columns if c.startswith("qd") and not c.startswith("qdd")]
|
||||
# qdd_cols = [c for c in df.columns if c.startswith("qdd")]
|
||||
def main():
|
||||
t, q = load_csv(CSV_PATH)
|
||||
if len(t) < 3:
|
||||
raise RuntimeError("CSV too short (need >= 3 samples).")
|
||||
|
||||
t = df['t'].values
|
||||
qd = diff_over_time(q, t) # (N-1,7)
|
||||
t_qd = (t[1:] + t[:-1]) * 0.5 # 中点时间
|
||||
qdd = diff_over_time(qd, t_qd) # (N-2,7)
|
||||
t_qdd = (t_qd[1:] + t_qd[:-1]) * 0.5
|
||||
|
||||
# 位置
|
||||
# 打印统计
|
||||
print("=== Stats from CSV ===")
|
||||
for j in range(7):
|
||||
max_qd = np.max(np.abs(qd[:, j]))
|
||||
max_qdd = np.max(np.abs(qdd[:, j]))
|
||||
print(f"joint {j+1}: max|qdot|={max_qd:.6f} rad/s, max|qddot|={max_qdd:.6f} rad/s^2")
|
||||
|
||||
# 画 q(t)
|
||||
plt.figure()
|
||||
for c in q_cols:
|
||||
plt.plot(t, df[c].values, label=c)
|
||||
plt.xlabel('time [s]')
|
||||
plt.ylabel('position [rad]')
|
||||
plt.title('Joint Positions')
|
||||
plt.legend()
|
||||
for j in range(7):
|
||||
plt.plot(t, q[:, j], label=f"q{j+1}")
|
||||
plt.xlabel("t [s]")
|
||||
plt.ylabel("q [rad]")
|
||||
plt.title("Joint position q(t)")
|
||||
plt.grid(True)
|
||||
plt.legend()
|
||||
|
||||
# 速度（只画 qd*）
|
||||
# 画 qdot(t)
|
||||
plt.figure()
|
||||
for c in qd_cols:
|
||||
plt.plot(t, df[c].values, label=c)
|
||||
plt.xlabel('time [s]')
|
||||
plt.ylabel('velocity [rad/s]')
|
||||
plt.title('Joint Velocities')
|
||||
plt.legend()
|
||||
for j in range(7):
|
||||
plt.plot(t_qd, qd[:, j], label=f"qdot{j+1}")
|
||||
plt.xlabel("t [s]")
|
||||
plt.ylabel("qdot [rad/s]")
|
||||
plt.title("Joint velocity qdot(t) (finite difference)")
|
||||
plt.grid(True)
|
||||
plt.legend()
|
||||
|
||||
# 加速度（只画 qdd*）
|
||||
# 画 qddot(t)
|
||||
plt.figure()
|
||||
for c in qdd_cols:
|
||||
plt.plot(t, df[c].values, label=c)
|
||||
plt.xlabel('time [s]')
|
||||
plt.ylabel('acceleration [rad/s^2]')
|
||||
plt.title('Joint Accelerations')
|
||||
plt.legend()
|
||||
for j in range(7):
|
||||
plt.plot(t_qdd, qdd[:, j], label=f"qddot{j+1}")
|
||||
plt.xlabel("t [s]")
|
||||
plt.ylabel("qddot [rad/s^2]")
|
||||
plt.title("Joint acceleration qddot(t) (finite difference)")
|
||||
plt.grid(True)
|
||||
plt.legend()
|
||||
|
||||
plt.show()
|
||||
|
||||
if __name__ == '__main__':
|
||||
main("/home/lgv/cmvr/0-workspace/cmvr-es/data/planner/traj.csv")
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
Loading…
Reference in New Issue
Block a user