From a7413e293c19fc1491391409f511efdc0def99e2 Mon Sep 17 00:00:00 2001 From: lgv Date: Mon, 2 Feb 2026 09:37:47 +0800 Subject: [PATCH] feat:add http server --- .idea/grpc_client.iml | 2 +- .idea/misc.xml | 2 +- clients/__init__.py | 0 clients/__pycache__/__init__.cpython-39.pyc | Bin 0 -> 142 bytes .../__pycache__/base_client.cpython-39.pyc | Bin 0 -> 2032 bytes .../__pycache__/hand_client.cpython-39.pyc | Bin 0 -> 2316 bytes .../__pycache__/http_server.cpython-39.pyc | Bin 0 -> 3074 bytes .../__pycache__/movej_client.cpython-39.pyc | Bin 0 -> 6659 bytes clients/base_client.py | 7 +- clients/get_joint_state_client.py | 114 +++++- clients/hand_client.py | 16 +- clients/http_server.py | 133 +++++++ clients/main.py | 141 +++++++ clients/movej_client.py | 359 +++++++++++++++--- clients/test.py | 21 +- generated/__pycache__/__init__.cpython-39.pyc | Bin 0 -> 144 bytes .../cmvr/__pycache__/__init__.cpython-39.pyc | Bin 0 -> 149 bytes .../api/__pycache__/__init__.cpython-39.pyc | Bin 0 -> 153 bytes .../api/__pycache__/common_pb2.cpython-39.pyc | Bin 0 -> 2186 bytes .../dexhand_command_pb2.cpython-39.pyc | Bin 0 -> 6894 bytes .../dexhand_service_pb2_grpc.cpython-39.pyc | Bin 0 -> 6977 bytes .../hlc_command_pb2.cpython-39.pyc | Bin 0 -> 1444 bytes .../humanoid_robot_command_pb2.cpython-39.pyc | Bin 0 -> 5397 bytes ...noid_robot_service_pb2_grpc.cpython-39.pyc | Bin 0 -> 6691 bytes 24 files changed, 713 insertions(+), 82 deletions(-) create mode 100644 clients/__init__.py create mode 100644 clients/__pycache__/__init__.cpython-39.pyc create mode 100644 clients/__pycache__/base_client.cpython-39.pyc create mode 100644 clients/__pycache__/hand_client.cpython-39.pyc create mode 100644 clients/__pycache__/http_server.cpython-39.pyc create mode 100644 clients/__pycache__/movej_client.cpython-39.pyc create mode 100644 clients/http_server.py create mode 100644 clients/main.py create mode 100644 generated/__pycache__/__init__.cpython-39.pyc create mode 100644 generated/cmvr/__pycache__/__init__.cpython-39.pyc create mode 100644 generated/cmvr/api/__pycache__/__init__.cpython-39.pyc create mode 100644 generated/cmvr/api/__pycache__/common_pb2.cpython-39.pyc create mode 100644 generated/cmvr/api/__pycache__/dexhand_command_pb2.cpython-39.pyc create mode 100644 generated/cmvr/api/__pycache__/dexhand_service_pb2_grpc.cpython-39.pyc create mode 100644 generated/cmvr/api/__pycache__/hlc_command_pb2.cpython-39.pyc create mode 100644 generated/cmvr/api/__pycache__/humanoid_robot_command_pb2.cpython-39.pyc create mode 100644 generated/cmvr/api/__pycache__/humanoid_robot_service_pb2_grpc.cpython-39.pyc diff --git a/.idea/grpc_client.iml b/.idea/grpc_client.iml index 7584dbd..2c80e12 100644 --- a/.idea/grpc_client.iml +++ b/.idea/grpc_client.iml @@ -4,7 +4,7 @@ - + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml index a031d5d..366343e 100644 --- a/.idea/misc.xml +++ b/.idea/misc.xml @@ -3,5 +3,5 @@ - + \ No newline at end of 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z($D7Ig7q^rJfD&8y2=_Z3f>7dUK9!~d@4AYoZ=GcF RoFRMz&Y&Idscykp`M;!PIrIPk literal 0 HcmV?d00001 diff --git a/clients/base_client.py b/clients/base_client.py index dc6c854..6896f03 100644 --- a/clients/base_client.py +++ b/clients/base_client.py @@ -1,8 +1,11 @@ import grpc import time import sys -sys.path.append("/home/lgv/cmvr/0-workspace/grpc_client/generated") # 指向 generated -sys.path.append("/home/lgv/cmvr/0-workspace/grpc_client/generated/cmvr") # 指向 cmvr 顶层 +from pathlib import Path +BASE_DIR = Path(__file__).resolve().parent.parent # 上一级目录 + +sys.path.append(str(BASE_DIR / "generated")) +sys.path.append(str(BASE_DIR / "generated" / "cmvr")) from cmvr.api import humanoid_robot_service_pb2_grpc from cmvr.api import dexhand_service_pb2_grpc diff --git a/clients/get_joint_state_client.py b/clients/get_joint_state_client.py index f0d8d00..e856b76 100644 --- a/clients/get_joint_state_client.py +++ b/clients/get_joint_state_client.py @@ -2,19 +2,42 @@ import sys import time from google.protobuf import timestamp_pb2 +import matplotlib.pyplot as plt # 新增 + sys.path.append("../generated") from generated.cmvr.api import humanoid_robot_service_pb2_grpc as rpc from generated.cmvr.api import humanoid_robot_command_pb2 as pb from clients.base_client import RobotClientBase +# 固定关节顺序 +JOINT_ORDER = [ + "L_SHOULDER_P", "L_SHOULDER_R", "L_SHOULDER_Y", + "L_ELBOW_R", "L_WRIST_P", "L_WRIST_Y", "L_WRIST_R", + "R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y", + "R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R", + "HEAD_P", "HEAD_Y", "HEAD_R","WAIST_Y","WAIST_R" +] + class GetJointStateClient(RobotClientBase): """Continuous client to fetch robot joint states""" + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + # 时间轴 + self.time_history = [] + self._start_time = None + # 记录每个关节的角度、速度 + self.pos_history = {name: [] for name in JOINT_ORDER} + self.vel_history = {name: [] for name in JOINT_ORDER} + def send(self, interval=0.5, device_id="hc01"): """Continuously fetch joint states and print in fixed order""" try: + if self._start_time is None: + self._start_time = time.time() + while True: # Construct request req = pb.JointRequest() @@ -31,24 +54,25 @@ class GetJointStateClient(RobotClientBase): time.sleep(interval) continue - # Fixed order for printing - joint_order = [ - "L_SHOULDER_P", "L_SHOULDER_R", "L_SHOULDER_Y", - "L_ELBOW_R", "L_WRIST_P", "L_WRIST_Y", "L_WRIST_R", - "R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y", - "R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R", - "HEAD_P", "HEAD_Y","HEAD_R" - ] - - - # Map response to dictionary - joint_dict = {} + # ====== 1. 同时取 position 和 velocity ====== + joint_pos_dict = {} + joint_vel_dict = {} for state in resp.state: - for name, pos in zip(state.name, state.position): - joint_dict[name] = round(pos, 12) + # 这里就用你说的三元 zip + for name, pos, vel in zip(state.name, state.position, state.velocity): + joint_pos_dict[name] = round(pos, 12) + joint_vel_dict[name] = round(vel, 12) - joint_list = [{"joint_name": name, "rad": joint_dict.get(name, 0.0)} - for name in joint_order] + # ====== 2. 记录到历史数据里，用于之后画图 ====== + t = time.time() - self._start_time + self.time_history.append(t) + for name in JOINT_ORDER: + self.pos_history[name].append(joint_pos_dict.get(name, 0.0)) + self.vel_history[name].append(joint_vel_dict.get(name, 0.0)) + + # 保持原来的打印逻辑（打印角度） + joint_list = [{"joint_name": name, "rad": joint_pos_dict.get(name, 0.0)} + for name in JOINT_ORDER] # Print timestamp print(f"[{time.strftime('%H:%M:%S')}]") @@ -63,11 +87,67 @@ class GetJointStateClient(RobotClientBase): except KeyboardInterrupt: print("\nStopped fetching joint states.") + # 例子：退出时画几个关节的角度 & 速度曲线 + # try: + # # 你可以根据需要改关节列表 + # self.plot_pos_and_vel([ "R_SHOULDER_P", "R_SHOULDER_R", "R_SHOULDER_Y", + # "R_ELBOW_R", "R_WRIST_P", "R_WRIST_Y", "R_WRIST_R"]) + # except Exception as e: + # print(f"绘图失败: {e}") + + # ====== 3. 绘制速度和角度（同一张图，两行子图） ====== + def plot_pos_and_vel(self, joint_names): + """ + 在一张图中绘制多个关节的角度和速度： + - 上 subplot：角度（rad） + - 下 subplot：速度（rad/s） + + joint_names: str 或 [str, ...] + """ + if isinstance(joint_names, str): + joint_names = [joint_names] + + # 检查关节名合法性 + invalid = [n for n in joint_names if n not in self.pos_history] + if invalid: + print(f"未知关节名: {invalid}") + print(f"可选关节: {list(self.pos_history.keys())}") + return + + if not self.time_history: + print("还没有采集到任何数据，无法绘图。") + return + + t = self.time_history + + plt.figure(figsize=(10, 6)) + + # 上：角度 + plt.subplot(2, 1, 1) + for name in joint_names: + plt.plot(t, self.pos_history[name], label=name) + plt.ylabel("Position (rad)") + plt.title("Joint Position") + plt.grid(True) + plt.legend() + + # 下：速度 + plt.subplot(2, 1, 2) + for name in joint_names: + plt.plot(t, self.vel_history[name], label=name) + plt.xlabel("Time (s)") + plt.ylabel("Velocity (rad/s)") + plt.title("Joint Velocity") + plt.grid(True) + plt.legend() + + plt.tight_layout() + plt.show() if __name__ == "__main__": client = GetJointStateClient() try: - client.send(interval=0.5) + client.send(interval=0.005) finally: client.close() diff --git a/clients/hand_client.py b/clients/hand_client.py index 9c74bb2..dc212e4 100644 --- a/clients/hand_client.py +++ b/clients/hand_client.py @@ -14,16 +14,16 @@ handshake = [ {"id": 1, "value": 0.0}, {"id": 2, "value": 0.0}, {"id": 3, "value": 0.0}, - {"id": 4, "value": 0.1}, - {"id": 5, "value": 0.0}, + {"id": 4, "value": 0.0}, + {"id": 5, "value": 1.0}, ] hand_open = [ - {"id": 0, "value": 0.8}, - {"id": 1, "value": 0.8}, - {"id": 2, "value": 0.8}, - {"id": 3, "value": 0.8}, - {"id": 4, "value": 0.8}, + {"id": 0, "value": 0.7}, + {"id": 1, "value": 0.7}, + {"id": 2, "value": 0.7}, + {"id": 3, "value": 0.7}, + {"id": 4, "value": 0.7}, {"id": 5, "value": 1.0}, ] @@ -104,7 +104,7 @@ if __name__ == "__main__": # ] # client.set_angles(hand_open, device_id="hand2") - client.set_angles(angles, device_id="hand2") + client.set_angles(hand_open, device_id="hand2") # client.set_angles(handshake, device_id="hand1") # Close client diff --git a/clients/http_server.py b/clients/http_server.py new file mode 100644 index 0000000..9489167 --- /dev/null +++ b/clients/http_server.py @@ -0,0 +1,133 @@ +from __future__ import annotations + +import time +from threading import Lock +from fastapi import FastAPI +from pydantic import BaseModel +from typing import Optional + +from clients.movej_client import MoveJClient, action_music,action_air,action_drive_comfort,action_drive_economy,action_hello + + +app = FastAPI(title="Humanoid Robot Control API (Blocking + Mutex + Ignore)") + +class ActionResponse(BaseModel): + code: int + msg: str + action: Optional[str] = None + ignored: bool = False + +class StatusResponse(BaseModel): + running: bool + current_action: Optional[str] + last_action: Optional[str] + last_finished_at: Optional[float] + + +# 🔒 全局唯一互斥锁：保证同一时间只能执行一个 action +action_lock = Lock() + +# 状态变量（简单可用；多线程更严谨可再加锁，这里够用） +running = False +current_action = None +last_action = None +last_finished_at = None + + +def run_action_blocking_ignore_if_busy(action_func, action_name: str) -> ActionResponse: + """ + 通用执行模板： + - 忙：直接忽略（立即返回，不执行） + - 空闲：阻塞执行，执行完再返回 + """ + global running, current_action, last_action, last_finished_at + + # 忙就忽略（静默丢弃动作） + if not action_lock.acquire(blocking=False): + return ActionResponse( + code=0, + msg=f"{action_name} ignored: robot busy", + action=action_name, + ignored=True, + ) + + client = MoveJClient() + # client = 0 + running = True + current_action = action_name + + try: + action_func(client) # ✅ 阻塞到动作执行结束 + last_action = action_name + last_finished_at = time.time() + return ActionResponse( + code=0, + msg=f"{action_name} finished", + action=action_name, + ignored=False, + ) + except Exception as e: + return ActionResponse( + code=1, + msg=f"{action_name} failed: {e}", + action=action_name, + ignored=False, + ) + finally: + try: + # print("closing action") + client.close() + finally: + running = False + current_action = None + action_lock.release() + + +# @app.post("/action/one", response_model=ActionResponse) +# def call_action_one(): +# return run_action_blocking_ignore_if_busy(action_one, "action_one") + +@app.post("/action/music", response_model=ActionResponse) +def call_action_music(): + return run_action_blocking_ignore_if_busy(action_music, "action_music") + +@app.post("/action/air", response_model=ActionResponse) +def call_action_air(): + return run_action_blocking_ignore_if_busy(action_air, "action_air") + +@app.post("/action/hello", response_model=ActionResponse) +def call_action_hello(): + return run_action_blocking_ignore_if_busy(action_hello, "action_hello") +# @app.post("/action/drive_comfort", response_model=ActionResponse) +# def call_action_drive_comfort(): +# return run_action_blocking_ignore_if_busy(action_drive_comfort, "action_drive_comfort") +# +# @app.post("/action/drive_economy", response_model=ActionResponse) +# def call_action_drive_economy(): +# return run_action_blocking_ignore_if_busy(action_drive_economy, "action_drive_economy") +# +# @app.post("/action/two", response_model=ActionResponse) +# def call_action_two(): +# return run_action_blocking_ignore_if_busy(action_two, "action_two") +# @app.post("/action/two", response_model=ActionResponse) +# def call_action_two(): +# return run_action_blocking_ignore_if_busy(action_two, "action_two") + +@app.get("/status", response_model=StatusResponse) +def get_status(): + return StatusResponse( + running=running, + current_action=current_action, + last_action=last_action, + last_finished_at=last_finished_at, + ) + + +if __name__ == "__main__": + import uvicorn + uvicorn.run( + "http_server:app", + host="0.0.0.0", + port=8000, + reload=False + ) \ No newline at end of file diff --git a/clients/main.py b/clients/main.py new file mode 100644 index 0000000..68da937 --- /dev/null +++ b/clients/main.py @@ -0,0 +1,141 @@ +# import time +# +# from hand_client import DexHandClient +# +# +# from movej_client import MoveJClient +# +# import atexit +# +# hand_open = [ +# {"id": 0, "value": 0.8}, +# {"id": 1, "value": 0.8}, +# {"id": 2, "value": 0.8}, +# {"id": 3, "value": 0.8}, +# {"id": 4, "value": 0.8}, +# {"id": 5, "value": 1.0}, +# ] +# +# +# hand_touch = [ +# {"id": 0, "value": 0}, +# {"id": 1, "value": 0}, +# {"id": 2, "value": 0}, +# {"id": 3, "value": 1.0}, +# {"id": 4, "value": 0.3}, +# {"id": 5, "value": 0.3}, +# ] +# +# handshake = [ +# {"id": 0, "value": 0.0}, +# {"id": 1, "value": 0.0}, +# {"id": 2, "value": 0.0}, +# {"id": 3, "value": 0.0}, +# {"id": 4, "value": 0.0}, +# {"id": 5, "value": 1.0}, +# ] +# +# +# left_joint_list = [ +# +# {'joint_name': 'L_SHOULDER_P', 'rad': -0.230949540675}, +# {'joint_name': 'L_SHOULDER_R', 'rad': -1.0384195613}, +# {'joint_name': 'L_SHOULDER_Y', 'rad': -15.045008286377}, +# {'joint_name': 'L_ELBOW_R', 'rad': -1.615503893099}, +# {'joint_name': 'L_WRIST_P', 'rad': 14.787740913187}, +# {'joint_name': 'L_WRIST_Y', 'rad': -0.353138324696}, +# {'joint_name': 'L_WRIST_R', 'rad': 0.28}, +# ] +# +# right_joint_list = [ +# +# {'joint_name': 'L_SHOULDER_P', 'rad': -0.038843127376}, +# {'joint_name': 'L_SHOULDER_R', 'rad': -0.782479233371}, +# {'joint_name': 'L_SHOULDER_Y', 'rad': -14.639593111463}, +# {'joint_name': 'L_ELBOW_R', 'rad': -2.009983759425}, +# {'joint_name': 'L_WRIST_P', 'rad': 14.79076046324}, +# {'joint_name': 'L_WRIST_Y', 'rad': -0.022087994402}, +# {'joint_name': 'L_WRIST_R', 'rad': 0.28}, +# +# +# ] +# start_joint_list = [ +# {'joint_name': 'L_SHOULDER_P', 'rad': -0.029367758425}, +# {'joint_name': 'L_SHOULDER_R', 'rad': -1.448823970756}, +# {'joint_name': 'L_SHOULDER_Y', 'rad': -14.5604203382}, +# {'joint_name': 'L_ELBOW_R', 'rad': -0.184456443516}, +# {'joint_name': 'L_WRIST_P', 'rad': 14.629440930445}, +# {'joint_name': 'L_WRIST_Y', 'rad': -0.021720636379}, +# {'joint_name': 'L_WRIST_R', 'rad': -0.120802885537}, +# ] +# +# single_joint = [ +# {'joint_name': 'R_SHOULDER_Y', 'rad': 0}, +# ] +# +# +# first_joint_list = [ +# {'joint_name': 'L_SHOULDER_P', 'rad': 0.013117624077}, +# {'joint_name': 'L_SHOULDER_R', 'rad': -1.153729162914}, +# {'joint_name': 'L_SHOULDER_Y', 'rad': -14.255272070875}, +# {'joint_name': 'L_ELBOW_R', 'rad': -1.477644963752}, +# {'joint_name': 'L_WRIST_P', 'rad': 15.28202635377}, +# {'joint_name': 'L_WRIST_Y', 'rad': -0.000359764059}, +# {'joint_name': 'L_WRIST_R', 'rad': 0.124166062475}, +# ] +# +# second_joint_list=[ +# {'joint_name': 'L_SHOULDER_P', 'rad': -0.563525308548}, +# {'joint_name': 'L_SHOULDER_R', 'rad': -1.290596130675}, +# {'joint_name': 'L_SHOULDER_Y', 'rad': -14.162486167364}, +# {'joint_name': 'L_ELBOW_R', 'rad': -1.021621712276}, +# {'joint_name': 'L_WRIST_P', 'rad': 15.432362166456}, +# {'joint_name': 'L_WRIST_Y', 'rad': 0.018426754365}, +# {'joint_name': 'L_WRIST_R', 'rad': -0.005352795583}, +# ] +# +# def action_hello(): +# # client.send(start_joint_list, vel=2.0, acc=2.0) +# hand_client.set_angles(hand_open, device_id="hand1") +# client.send(right_joint_list, vel=2.0, acc=2.0) +# # time.sleep(1) +# while True: +# client.send(right_joint_list, vel=3.0, acc=3.0) +# client.send(left_joint_list, vel=3.0, acc=3.0) +# # client.send(start_joint_list, vel=1.0, acc=1.0) +# +# def action_touch(): +# # client.send(start_joint_list, vel=2.0, acc=2.0) +# hand_client.set_angles(hand_touch, device_id="hand1") +# client.send(first_joint_list, vel=2.0, acc=2.0) +# # time.sleep(1) +# while True: +# client.send(first_joint_list, vel=5.0, acc=3.0) +# client.send(second_joint_list, vel=5.0, acc=3.0) +# # client.send(start_joint_list, vel=1.0, acc=1.0) +# +# +# def cleanup(): +# time.sleep(3) +# hand_client.set_angles(handshake, device_id="hand1") +# client.send(start_joint_list, vel=2.0, acc=2.0) +# if hand_client is not None: +# hand_client.close() +# if client is not None: +# client.close() +# print("程序结束：已执行清理并打印此信息。") +# +# atexit.register(cleanup) +# +# +# if __name__ == "__main__": +# # Initialize client +# global hand_client +# global client +# +# hand_client = DexHandClient() +# client = MoveJClient() +# +# action_touch() +# +# diff --git a/clients/movej_client.py b/clients/movej_client.py index fda57e2..e6c3440 100644 --- a/clients/movej_client.py +++ b/clients/movej_client.py @@ -3,6 +3,8 @@ import time from google.protobuf import timestamp_pb2 +from clients.hand_client import DexHandClient + sys.path.append("../generated") from generated.cmvr.api import humanoid_robot_command_pb2 as pb @@ -13,6 +15,7 @@ import math from typing import List, Dict, Literal + class MoveJClient(RobotClientBase): """Client to send MoveJ commands to the robot""" @@ -29,20 +32,7 @@ class MoveJClient(RobotClientBase): device_id: device ID """ # Construct JointCmd list - # cmds = [pb.JointCmd(joint_name=j["joint_name"], rad=j["rad"], vel=vel) for j in joint_list] - - offset = { - "R_WRIST_Y": -0.0, - } - - cmds = [ - pb.JointCmd( - joint_name=j["joint_name"], - rad=j["rad"] + offset.get(j["joint_name"], 0), - vel=vel - ) - for j in joint_list - ] + cmds = [pb.JointCmd(joint_name=j["joint_name"], rad=j["rad"], vel=vel) for j in joint_list] # Construct request header header = common_pb2.CommandHeader.Request() @@ -73,56 +63,327 @@ class MoveJClient(RobotClientBase): print("MoveJ RPC call failed:", e) -zero_joint_list = [ +# init_joint_list = [ +# {'joint_name': 'R_SHOULDER_P', 'rad': -0.003768504782}, +# {'joint_name': 'R_SHOULDER_R', 'rad': -0.256264020657}, +# {'joint_name': 'R_SHOULDER_Y', 'rad': 2.526736892626}, +# {'joint_name': 'R_ELBOW_R', 'rad': -1.542952107456}, +# {'joint_name': 'R_WRIST_P', 'rad': 0.117851681162}, +# {'joint_name': 'R_WRIST_Y', 'rad': 0.097711538603}, +# {'joint_name': 'R_WRIST_R', 'rad': 0.021115966972}, +# ] - {'joint_name': 'R_WRIST_R', 'rad': 0}, - {'joint_name': 'R_WRIST_Y', 'rad': 0}, - {'joint_name': 'R_WRIST_P', 'rad': 0}, - {'joint_name': 'R_ELBOW_R', 'rad': 0}, - {'joint_name': 'R_SHOULDER_Y', 'rad': 0}, - {'joint_name': 'R_SHOULDER_R', 'rad': 0}, - {'joint_name': 'R_SHOULDER_P', 'rad': 0}, +init_joint_list = [ +{'joint_name': 'R_SHOULDER_P', 'rad': -0.062633119026}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.013667237243}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.563999526183}, +{'joint_name': 'R_ELBOW_R', 'rad': -0.275263170082}, +{'joint_name': 'R_WRIST_P', 'rad': 0.21726806475}, +{'joint_name': 'R_WRIST_Y', 'rad': -0.044427538871}, +{'joint_name': 'R_WRIST_R', 'rad': -0.065047050427}, ] start_joint_list = [ - - {'joint_name': 'R_WRIST_R', 'rad': -0.182982265197}, - {'joint_name': 'R_WRIST_Y', 'rad': 0.057211977764}, - {'joint_name': 'R_WRIST_P', 'rad': -2.450283707826}, - {'joint_name': 'R_ELBOW_R', 'rad': 1.691315387916}, - {'joint_name': 'R_SHOULDER_Y', 'rad': 1.741483963795}, - {'joint_name': 'R_SHOULDER_R', 'rad': 1.000908225412}, - {'joint_name': 'R_SHOULDER_P', 'rad': -0.275362840863}, +{'joint_name': 'R_SHOULDER_P', 'rad': 0.212733518819}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.391965314899}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.564591855398}, +{'joint_name': 'R_ELBOW_R', 'rad': -1.503521397093}, +{'joint_name': 'R_WRIST_P', 'rad': 0.217252876821}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.164711187099}, +{'joint_name': 'R_WRIST_R', 'rad': 0.227967960443}, ] -end_joint_list = [ +air_in_joint_list= [ +{'joint_name': 'R_SHOULDER_P', 'rad': 0.467093352929}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.397918033661}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.332349442301}, +{'joint_name': 'R_ELBOW_R', 'rad': -1.108740619931}, +{'joint_name': 'R_WRIST_P', 'rad': 0.184619713748}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.165660432636}, +{'joint_name': 'R_WRIST_R', 'rad': 0.013328010806}, +] - {'joint_name': 'R_WRIST_R', 'rad': 0.590444918686}, - {'joint_name': 'R_WRIST_Y', 'rad': 0.133274073403}, - {'joint_name': 'R_WRIST_P', 'rad': -2.832957807407}, - {'joint_name': 'R_ELBOW_R', 'rad': 0.722278081411}, - {'joint_name': 'R_SHOULDER_Y', 'rad': 1.454527987188}, - {'joint_name': 'R_SHOULDER_R', 'rad': 1.319798720377}, - {'joint_name': 'R_SHOULDER_P', 'rad': 0.886766195809}, +air_open_joint_list= [ +{'joint_name': 'R_SHOULDER_P', 'rad': 0.562264710474}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.375382944612}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.390867581924}, +{'joint_name': 'R_ELBOW_R', 'rad': -1.143580778878}, +{'joint_name': 'R_WRIST_P', 'rad': 0.19485637762}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.159855796177}, +{'joint_name': 'R_WRIST_R', 'rad': 0.26605484086}, +] + +air_close_joint_list= air_open_joint_list + +go_home_joint_list = [ +{'joint_name': 'R_SHOULDER_P', 'rad': 0.451632041621}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.307911521083}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.13536865317}, +{'joint_name': 'R_ELBOW_R', 'rad': -1.294201365225}, +{'joint_name': 'R_WRIST_P', 'rad': 0.378274346518}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.037015483938}, +{'joint_name': 'R_WRIST_R', 'rad': 0.148664191295}, +] + +empty_joint_list = [ +{'joint_name': 'R_SHOULDER_P', 'rad': 0.255359389661}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.283898456732}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.498425644483}, +{'joint_name': 'R_ELBOW_R', 'rad': -1.261196097901}, +{'joint_name': 'R_WRIST_P', 'rad': 0.159945974503}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.124704284694}, +{'joint_name': 'R_WRIST_R', 'rad': 0.089323055792}, ] +music_in_joint_list= [ +{'joint_name': 'R_SHOULDER_P', 'rad': 0.534755574811}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.370206708698}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.318657524675}, +{'joint_name': 'R_ELBOW_R', 'rad': -1.133308992921}, +{'joint_name': 'R_WRIST_P', 'rad': 0.217250029084}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.151281261241}, +{'joint_name': 'R_WRIST_R', 'rad': 0.087528290167}, +] -if __name__ == "__main__": - # Initialize client - client = MoveJClient() +music_open_joint_list = [ +{'joint_name': 'R_SHOULDER_P', 'rad': 0.562264710474}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.375382944612}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.390867581924}, +{'joint_name': 'R_ELBOW_R', 'rad': -1.143580778878}, +{'joint_name': 'R_WRIST_P', 'rad': 0.19485637762}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.149855796177}, +{'joint_name': 'R_WRIST_R', 'rad': 0.25605484086}, +] +music_close_joint_list = music_open_joint_list +set_in_joint_list = [ +{'joint_name': 'R_SHOULDER_P', 'rad': 0.494828409031}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.305430193249}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.207381267348}, +{'joint_name': 'R_ELBOW_R', 'rad': -1.228615143333}, +{'joint_name': 'R_WRIST_P', 'rad': 0.262071504853}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.097687807464}, +{'joint_name': 'R_WRIST_R', 'rad': 0.069247461928}, +] +dirve_mode_joint_list = [ +{'joint_name': 'R_SHOULDER_P', 'rad': 0.563493983445}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.162294407962}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.249594216381}, +{'joint_name': 'R_ELBOW_R', 'rad': -1.289937354272}, +{'joint_name': 'R_WRIST_P', 'rad': 0.142454226992}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.000561004112}, +{'joint_name': 'R_WRIST_R', 'rad': 0.167736130893}, +] - R_WRIST_R_joint = [ - {'joint_name': 'R_WRIST_R', 'rad': 0.0}, +dirve_soft_joint_list = [ + +{'joint_name': 'R_SHOULDER_P', 'rad': 0.535399163285}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.308316848927}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.505504168453}, +{'joint_name': 'R_ELBOW_R', 'rad': -1.088469481487}, +{'joint_name': 'R_WRIST_P', 'rad': -0.006021064442}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.165673722074}, +{'joint_name': 'R_WRIST_R', 'rad': 0.062983648315}, +] + +dirve_jie_joint_list = [ + +{'joint_name': 'R_SHOULDER_P', 'rad': 0.511487668206}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.330508311093}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.33301771116}, +{'joint_name': 'R_ELBOW_R', 'rad': -1.139994529239}, +{'joint_name': 'R_WRIST_P', 'rad': 0.228347658658}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.164826995055}, +{'joint_name': 'R_WRIST_R', 'rad': 0.075367851372}, +] + +head_front_joint_list = [ + {'joint_name': 'HEAD_P', 'rad': -0.15311278316}, + {'joint_name': 'HEAD_Y', 'rad': -0.04022955268}, + {'joint_name': 'HEAD_R', 'rad': 0.050031017646}, +] + +head_screen_joint_list = [ + {'joint_name': 'HEAD_P', 'rad': -0.307521160933}, + {'joint_name': 'HEAD_Y', 'rad': -0.474696809681}, + {'joint_name': 'HEAD_R', 'rad': 0.074742644342}, +] + +singal_joint_list = [ +{'joint_name': 'R_WRIST_P', 'rad': 0.217252876821}, +] + +hand_touch = [ + {"id": 0, "value": 0}, + {"id": 1, "value": 0}, + {"id": 2, "value": 0}, + {"id": 3, "value": 1.0}, + {"id": 4, "value": 0.3}, + {"id": 5, "value": 0.3}, +] + +hand_open = [ + {"id": 0, "value": 0.8}, + {"id": 1, "value": 0.8}, + {"id": 2, "value": 0.8}, + {"id": 3, "value": 0.8}, + {"id": 4, "value": 0.8}, + {"id": 5, "value": 1.0}, ] - # client.send(start_joint_list, 2.0, 1.0) - # client.send(start_joint_list,2.0,2.0) - # client.send(end_joint_list, 1.5, 1.5) - while True: - client.send(start_joint_list,1.5,1.5) - client.send(end_joint_list,1.5,1.5) +hello_l_joint_list = [ + # {'joint_name': 'R_SHOULDER_P', 'rad': 0.399221347784}, + # {'joint_name': 'R_SHOULDER_R', 'rad': -0.287301501983}, + # {'joint_name': 'R_SHOULDER_Y', 'rad': 2.066446782461}, + # {'joint_name': 'R_ELBOW_R', 'rad': -2.153093915083}, + # {'joint_name': 'R_WRIST_P', 'rad': 0.005766666638}, + # {'joint_name': 'R_WRIST_Y', 'rad': 0.292756816084}, + # {'joint_name': 'R_WRIST_R', 'rad': -0.466447865964}, +{'joint_name': 'R_SHOULDER_P', 'rad': 0.500229616137}, +{'joint_name': 'R_SHOULDER_R', 'rad': -0.252456596808}, +{'joint_name': 'R_SHOULDER_Y', 'rad': 2.183436548675}, +{'joint_name': 'R_ELBOW_R', 'rad': -2.107785476354}, +{'joint_name': 'R_WRIST_P', 'rad': -0.115909524794}, +{'joint_name': 'R_WRIST_Y', 'rad': 0.10194042747}, +{'joint_name': 'R_WRIST_R', 'rad': -0.283499773607}, +] + +hello_r_joint_list = [ + {'joint_name': 'R_SHOULDER_P', 'rad': 0.406399542535}, + {'joint_name': 'R_SHOULDER_R', 'rad': -0.299956843483}, + {'joint_name': 'R_SHOULDER_Y', 'rad': 2.461169655645}, + {'joint_name': 'R_ELBOW_R', 'rad': -2.049333783919}, + {'joint_name': 'R_WRIST_P', 'rad': 0.185113321427}, + {'joint_name': 'R_WRIST_Y', 'rad': -0.44407319941}, + {'joint_name': 'R_WRIST_R', 'rad': -0.491400683396}, +] + + + + +# + + +def action_hello(client): + hand_client.set_angles(hand_open, device_id="hand2") + client.send(init_joint_list, vel=1.0, acc=1.0) + client.send(hello_l_joint_list, vel=2.0, acc=2.0) + for _ in range(3): + client.send(hello_l_joint_list, vel=3.0, acc=5.0) + time.sleep(0.1) + client.send(hello_r_joint_list, vel=3.0, acc=5.0) + time.sleep(0.1) + client.send(init_joint_list, vel=1.5, acc=1.5) + hand_client.set_angles(hand_open, device_id="hand2") + +def action_air(client): + hand_client.set_angles(hand_touch, device_id="hand2") + client.send(init_joint_list, vel=2.0, acc=2.0) + client.send(head_screen_joint_list, vel=1.0, acc=1.0) + client.send(start_joint_list, vel=1.0, acc=1.0) + client.send(air_in_joint_list, vel=3.0, acc=3.0) + client.send(start_joint_list, vel=3.0, acc=3.0) + # # # # # + # # time.sleep(1) + # # client.send(air_open_joint_list, vel=3.0, acc=3.0) + # # client.send(start_joint_list, vel=3.0, acc=3.0) + time.sleep(1) + client.send(air_close_joint_list, vel=3.0, acc=2.0) + client.send(start_joint_list, vel=3.0, acc=2.0) + time.sleep(1) + client.send(go_home_joint_list, vel=3.0, acc=2.0) + client.send(start_joint_list, vel=3.0, acc=3.0) + client.send(head_front_joint_list, vel=1.0, acc=1.0) + client.send(init_joint_list, vel=2.0, acc=2.0) + hand_client.set_angles(hand_open, device_id="hand2") + +def action_music(client): + # init_joint_list + hand_client.set_angles(hand_touch, device_id="hand2") + client.send(init_joint_list, vel=2.0, acc=2.0) + client.send(head_screen_joint_list, vel=1.0, acc=1.0) + client.send(start_joint_list, vel=1.0, acc=1.0) + client.send(music_in_joint_list, vel=3.0, acc=3.0) + client.send(start_joint_list, vel=3.0, acc=3.0) + # # # + time.sleep(1) + client.send(music_open_joint_list, vel=3.0, acc=3.0) + client.send(start_joint_list, vel=3.0, acc=3.0) + # time.sleep(2) + # client.send(music_close_joint_list, vel=3.0, acc=3.0) + # client.send(start_joint_list, vel=3.0, acc=3.0) + time.sleep(1) + client.send(go_home_joint_list, vel=3.0, acc=2.0) + client.send(start_joint_list, vel=3.0, acc=2.0) + client.send(head_front_joint_list, vel=1.0, acc=1.0) + client.send(init_joint_list, vel=2.0, acc=2.0) + hand_client.set_angles(hand_open, device_id="hand2") +def action_drive_economy(client): + # client.send(head_screen_joint_list, vel=1.0, acc=1.0) + # client.send(start_joint_list, vel=1.0, acc=1.0) + # client.send(set_in_joint_list, vel=3.0, acc=2.0) + # client.send(start_joint_list, vel=3.0, acc=2.0) + # # # + time.sleep(1) + # client.send(dirve_mode_joint_list, vel=3.0, acc=2.0) + # client.send(start_joint_list, vel=3.0, acc=2.0) + # + # time.sleep(1) + # client.send(dirve_jie_joint_list, vel=3.0, acc=2.0) + # client.send(start_joint_list, vel=3.0, acc=2.0) + # time.sleep(2) + # client.send(go_home_joint_list, vel=3.0, acc=2.0) + # client.send(start_joint_list, vel=3.0, acc=2.0) + # client.send(head_front_joint_list, vel=1.0, acc=1.0) +def action_drive_comfort(client): + # client.send(head_screen_joint_list, vel=1.0, acc=1.0) + # client.send(start_joint_list, vel=1.0, acc=1.0) + # client.send(set_in_joint_list, vel=3.0, acc=2.0) + # client.send(start_joint_list, vel=3.0, acc=2.0) + # # # + time.sleep(1) + # client.send(dirve_mode_joint_list, vel=3.0, acc=2.0) + # client.send(start_joint_list, vel=3.0, acc=2.0) + # + # time.sleep(1) + # client.send(dirve_soft_joint_list, vel=3.0, acc=2.0) + # client.send(start_joint_list, vel=3.0, acc=2.0) + # time.sleep(2) + # client.send(go_home_joint_list, vel=3.0, acc=2) + # client.send(start_joint_list, vel=3.0, acc=2) + # client.send(head_front_joint_list, vel=1.0, acc=1.0) + + # client.send(init_joint_list, vel=1.0, acc=1.0) +client = MoveJClient() +hand_client = DexHandClient() +if __name__ == "__main__": + # Initialize client + + # action_air(client) + action_hello(client) + # client.send(head_front_joint_list, vel=1.0, acc=1.0) + # client.send(go_home_joint_list, vel=3.0, acc=3.0) + # action_music(client) + + # action_music(client) + # action_air(client) + # action_one(client) + # action_drive_soft(client) + # action_drive_economy(client) + # action_drive_comfort(client) + # client.send(singal_joint_list, vel=1.0, acc=1.0) + # client.send(start_joint_list, vel=1.0, acc=1.0) + # while True: + # client.send(hello_l_joint_list, vel=1.0, acc=1.0) + # time.sleep(0.1) + # client.send(hello_r_joint_list, vel=1.0, acc=1.0) + # time.sleep(0.1) + # # hello_l_joint_list + + + + # Close client client.close() diff --git a/clients/test.py b/clients/test.py index f424beb..42991ca 100644 --- a/clients/test.py +++ b/clients/test.py @@ -1,5 +1,18 @@ -from google.protobuf import timestamp_pb2 +import requests -timestamp = 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