feat:add generate js scripts
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parent
05d98f7417
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882
actions.json
Normal file
882
actions.json
Normal file
@ -0,0 +1,882 @@
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{
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"action_one": {
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"1_start_joint_list": {
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"acc": 5.0,
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"vel": 5.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.274967005474,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.603120933284,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.499983558976,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -1.492936360109,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.720539063587,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.056068136892,
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"vel": 1.0
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}
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]
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},
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"2_wait": 2,
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"3_set_joint_list": {
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"acc": 5.0,
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"vel": 5.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.066444339857,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.531186157241,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.340070808067,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -1.952500297438,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.626298915913,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.342241935176,
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"vel": 1.0
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}
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]
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},
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"4_start_joint_list": {
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"acc": 5.0,
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"vel": 5.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.274967005474,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.603120933284,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.499983558976,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -1.492936360109,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.720539063587,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.056068136892,
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"vel": 1.0
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}
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]
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},
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"5_wait": 2,
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"6_drive_joint_list": {
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"acc": 5.0,
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"vel": 5.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": -0.011299818873,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.60070130641,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.364414209864,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -1.980264780151,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.560519997177,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.442999602707,
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"vel": 1.0
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}
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]
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},
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"7_start_joint_list": {
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"acc": 5.0,
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"vel": 5.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.274967005474,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.603120933284,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.499983558976,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -1.492936360109,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.720539063587,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.056068136892,
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"vel": 1.0
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}
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]
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},
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"8_mode_joint_list": {
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"acc": 5.0,
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"vel": 5.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.274796141277,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.944670868464,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.136851577265,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -1.543831108824,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.465282192444,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.415577797633,
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"vel": 1.0
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}
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]
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},
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"9_start_joint_list": {
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"acc": 5.0,
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"vel": 5.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.274967005474,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.603120933284,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.499983558976,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -1.492936360109,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.720539063587,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.056068136892,
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"vel": 1.0
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}
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]
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},
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"10_home_joint_list": {
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"acc": 5.0,
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"vel": 5.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.031161140931,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.577257789382,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.381942977952,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -2.055649114477,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.602941780228,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.314926445602,
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"vel": 1.0
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}
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]
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}
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},
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"action_two": {
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"1_start_joint_list": {
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"acc": 5.0,
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"vel": 5.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.274967005474,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.603120933284,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.499983558976,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -1.492936360109,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.720539063587,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.056068136892,
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"vel": 1.0
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}
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]
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},
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"2_wait": 2.0,
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"3_wyy_joint_list": {
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"acc": 5.0,
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"vel": 5.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.319859674658,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.645610112769,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.129972394858,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -1.724514301329,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.557216622708,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.379009062563,
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"vel": 1.0
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}
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]
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},
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"4_start_joint_list": {
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"acc": 5.0,
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"vel": 5.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.274967005474,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.603120933284,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.499983558976,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -1.492936360109,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.720539063587,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.056068136892,
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"vel": 1.0
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}
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]
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},
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"5_wait": 2.0,
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"6_play_music_joint_list": {
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"acc": 3.0,
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"vel": 3.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.0,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.446466942304,
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"vel": 1.0
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},
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{
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"jointName": "R_ELBOW_R",
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"rad": -1.205457349211,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_Y",
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"rad": -1.959358596443,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_R",
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"rad": -0.776803694305,
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"vel": 1.0
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},
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{
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"jointName": "R_SHOULDER_P",
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"rad": 0.372088113353,
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"vel": 1.0
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}
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]
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},
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"7_start_joint_list": {
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"acc": 3.0,
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"vel": 3.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.274967005474,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.603120933284,
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"vel": 1.0
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},
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{
|
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"jointName": "R_ELBOW_R",
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"rad": -1.499983558976,
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"vel": 1.0
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||||
},
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{
|
||||
"jointName": "R_SHOULDER_Y",
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"rad": -1.492936360109,
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"vel": 1.0
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||||
},
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{
|
||||
"jointName": "R_SHOULDER_R",
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"rad": -0.720539063587,
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"vel": 1.0
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||||
},
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||||
{
|
||||
"jointName": "R_SHOULDER_P",
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"rad": 0.056068136892,
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"vel": 1.0
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}
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]
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},
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"8_wait": 2.0,
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"9_play_music_joint_list": {
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"acc": 3.0,
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"vel": 3.0,
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"cmds": [
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{
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"jointName": "R_WRIST_Y",
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"rad": 0.0,
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"vel": 1.0
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},
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{
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"jointName": "R_WRIST_P",
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"rad": -20.446466942304,
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"vel": 1.0
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},
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{
|
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"jointName": "R_ELBOW_R",
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"rad": -1.205457349211,
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"vel": 1.0
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||||
},
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{
|
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"jointName": "R_SHOULDER_Y",
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"rad": -1.959358596443,
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"vel": 1.0
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},
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{
|
||||
"jointName": "R_SHOULDER_R",
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"rad": -0.776803694305,
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"vel": 1.0
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||||
},
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||||
{
|
||||
"jointName": "R_SHOULDER_P",
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"rad": 0.372088113353,
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"vel": 1.0
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}
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]
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},
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"10_start_joint_list": {
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"acc": 3.0,
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"vel": 3.0,
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"cmds": [
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{
|
||||
"jointName": "R_WRIST_Y",
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||||
"rad": 0.274967005474,
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"vel": 1.0
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||||
},
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{
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||||
"jointName": "R_WRIST_P",
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||||
"rad": -20.603120933284,
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"vel": 1.0
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},
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{
|
||||
"jointName": "R_ELBOW_R",
|
||||
"rad": -1.499983558976,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_Y",
|
||||
"rad": -1.492936360109,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_R",
|
||||
"rad": -0.720539063587,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_P",
|
||||
"rad": 0.056068136892,
|
||||
"vel": 1.0
|
||||
}
|
||||
]
|
||||
},
|
||||
"11_wait": 2.0,
|
||||
"12_home_joint_list": {
|
||||
"acc": 5.0,
|
||||
"vel": 5.0,
|
||||
"cmds": [
|
||||
{
|
||||
"jointName": "R_WRIST_Y",
|
||||
"rad": 0.031161140931,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_WRIST_P",
|
||||
"rad": -20.577257789382,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_ELBOW_R",
|
||||
"rad": -1.381942977952,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_Y",
|
||||
"rad": -2.055649114477,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_R",
|
||||
"rad": -0.602941780228,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_P",
|
||||
"rad": 0.314926445602,
|
||||
"vel": 1.0
|
||||
}
|
||||
]
|
||||
}
|
||||
},
|
||||
"action_three": {
|
||||
"1_start_joint_list": {
|
||||
"acc": 5.0,
|
||||
"vel": 5.0,
|
||||
"cmds": [
|
||||
{
|
||||
"jointName": "R_WRIST_Y",
|
||||
"rad": 0.274967005474,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_WRIST_P",
|
||||
"rad": -20.603120933284,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_ELBOW_R",
|
||||
"rad": -1.499983558976,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_Y",
|
||||
"rad": -1.492936360109,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_R",
|
||||
"rad": -0.720539063587,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_P",
|
||||
"rad": 0.056068136892,
|
||||
"vel": 1.0
|
||||
}
|
||||
]
|
||||
},
|
||||
"2_wait": 2.0,
|
||||
"3_empty_joint_list": {
|
||||
"acc": 5.0,
|
||||
"vel": 5.0,
|
||||
"cmds": [
|
||||
{
|
||||
"jointName": "R_WRIST_Y",
|
||||
"rad": 0.065426748642,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_WRIST_P",
|
||||
"rad": -20.572653948527,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_ELBOW_R",
|
||||
"rad": -1.354382583029,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_Y",
|
||||
"rad": -1.857614662799,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_R",
|
||||
"rad": -0.490473270507,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_P",
|
||||
"rad": 0.343988546965,
|
||||
"vel": 1.0
|
||||
}
|
||||
]
|
||||
},
|
||||
"4_start_joint_list": {
|
||||
"acc": 5.0,
|
||||
"vel": 5.0,
|
||||
"cmds": [
|
||||
{
|
||||
"jointName": "R_WRIST_Y",
|
||||
"rad": 0.274967005474,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_WRIST_P",
|
||||
"rad": -20.603120933284,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_ELBOW_R",
|
||||
"rad": -1.499983558976,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_Y",
|
||||
"rad": -1.492936360109,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_R",
|
||||
"rad": -0.720539063587,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_P",
|
||||
"rad": 0.056068136892,
|
||||
"vel": 1.0
|
||||
}
|
||||
]
|
||||
},
|
||||
"5_wait": 2.0,
|
||||
"6_empty_joint_list": {
|
||||
"acc": 5.0,
|
||||
"vel": 5.0,
|
||||
"cmds": [
|
||||
{
|
||||
"jointName": "R_WRIST_Y",
|
||||
"rad": 0.065426748642,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_WRIST_P",
|
||||
"rad": -20.572653948527,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_ELBOW_R",
|
||||
"rad": -1.354382583029,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_Y",
|
||||
"rad": -1.857614662799,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_R",
|
||||
"rad": -0.490473270507,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_P",
|
||||
"rad": 0.343988546965,
|
||||
"vel": 1.0
|
||||
}
|
||||
]
|
||||
},
|
||||
"7_start_joint_list": {
|
||||
"acc": 5.0,
|
||||
"vel": 5.0,
|
||||
"cmds": [
|
||||
{
|
||||
"jointName": "R_WRIST_Y",
|
||||
"rad": 0.274967005474,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_WRIST_P",
|
||||
"rad": -20.603120933284,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_ELBOW_R",
|
||||
"rad": -1.499983558976,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_Y",
|
||||
"rad": -1.492936360109,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_R",
|
||||
"rad": -0.720539063587,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_P",
|
||||
"rad": 0.056068136892,
|
||||
"vel": 1.0
|
||||
}
|
||||
]
|
||||
},
|
||||
"8_wait": 2.0,
|
||||
"9_nav_joint_list": {
|
||||
"acc": 5.0,
|
||||
"vel": 5.0,
|
||||
"cmds": [
|
||||
{
|
||||
"jointName": "R_WRIST_Y",
|
||||
"rad": 0.057895434551,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_WRIST_P",
|
||||
"rad": -20.659321964551,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_ELBOW_R",
|
||||
"rad": -1.348938659874,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_Y",
|
||||
"rad": -1.969583869368,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_R",
|
||||
"rad": -0.586725818719,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_P",
|
||||
"rad": 0.35676823963,
|
||||
"vel": 1.0
|
||||
}
|
||||
]
|
||||
},
|
||||
"10_start_joint_list": {
|
||||
"acc": 5.0,
|
||||
"vel": 5.0,
|
||||
"cmds": [
|
||||
{
|
||||
"jointName": "R_WRIST_Y",
|
||||
"rad": 0.274967005474,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_WRIST_P",
|
||||
"rad": -20.603120933284,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_ELBOW_R",
|
||||
"rad": -1.499983558976,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_Y",
|
||||
"rad": -1.492936360109,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_R",
|
||||
"rad": -0.720539063587,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_P",
|
||||
"rad": 0.056068136892,
|
||||
"vel": 1.0
|
||||
}
|
||||
]
|
||||
},
|
||||
"11_wait": 7.0,
|
||||
"12_home_joint_list": {
|
||||
"acc": 5.0,
|
||||
"vel": 5.0,
|
||||
"cmds": [
|
||||
{
|
||||
"jointName": "R_WRIST_Y",
|
||||
"rad": 0.031161140931,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_WRIST_P",
|
||||
"rad": -20.577257789382,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_ELBOW_R",
|
||||
"rad": -1.381942977952,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_Y",
|
||||
"rad": -2.055649114477,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_R",
|
||||
"rad": -0.602941780228,
|
||||
"vel": 1.0
|
||||
},
|
||||
{
|
||||
"jointName": "R_SHOULDER_P",
|
||||
"rad": 0.314926445602,
|
||||
"vel": 1.0
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -40,13 +40,6 @@ class GetJointStateClient(RobotClientBase):
|
||||
"HEAD_P", "HEAD_Y","HEAD_R"
|
||||
]
|
||||
|
||||
joint_order = [
|
||||
"L_SHOULDER_P", "L_SHOULDER_R", "L_SHOULDER_Y",
|
||||
"L_ELBOW_R", "L_WRIST_P", "L_WRIST_Y", "L_WRIST_R",
|
||||
|
||||
"R_WRIST_R","R_WRIST_Y", "R_WRIST_P", "R_ELBOW_R", "R_SHOULDER_Y","R_SHOULDER_R", "R_SHOULDER_P",
|
||||
"HEAD_P", "HEAD_Y","HEAD_R"
|
||||
]
|
||||
|
||||
# Map response to dictionary
|
||||
joint_dict = {}
|
||||
|
||||
@ -1,4 +1,6 @@
|
||||
import sys
|
||||
import time
|
||||
|
||||
from google.protobuf import timestamp_pb2
|
||||
|
||||
sys.path.append("../generated")
|
||||
@ -11,7 +13,6 @@ import math
|
||||
from typing import List, Dict, Literal
|
||||
|
||||
|
||||
|
||||
class MoveJClient(RobotClientBase):
|
||||
"""Client to send MoveJ commands to the robot"""
|
||||
|
||||
@ -28,7 +29,20 @@ 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]
|
||||
# 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
|
||||
]
|
||||
|
||||
# Construct request header
|
||||
header = common_pb2.CommandHeader.Request()
|
||||
@ -59,6 +73,38 @@ class MoveJClient(RobotClientBase):
|
||||
print("MoveJ RPC call failed:", e)
|
||||
|
||||
|
||||
zero_joint_list = [
|
||||
|
||||
{'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},
|
||||
]
|
||||
|
||||
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},
|
||||
]
|
||||
|
||||
end_joint_list = [
|
||||
|
||||
{'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},
|
||||
]
|
||||
|
||||
|
||||
|
||||
@ -66,51 +112,17 @@ if __name__ == "__main__":
|
||||
# Initialize client
|
||||
client = MoveJClient()
|
||||
|
||||
end_joint_list = [
|
||||
|
||||
{'joint_name': 'R_WRIST_R', 'rad': 0.32396421236},
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.098841140792},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -17.626296421526},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': 1.502654735917},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -4.76186081004},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.484371520195},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.154464081527},
|
||||
|
||||
R_WRIST_R_joint = [
|
||||
{'joint_name': 'R_WRIST_R', 'rad': 0.0},
|
||||
]
|
||||
|
||||
|
||||
start_joint_list = [
|
||||
{'joint_name': 'R_WRIST_R', 'rad': 0.315772223376},
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.08855986238},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -17.291334250373},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': 1.66502982975},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -4.758606796339},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.830841394993},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': -0.007418353872},
|
||||
]
|
||||
|
||||
# client.send(start_joint_list, vel=2.0, acc=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, vel=2.0, acc=1.0)
|
||||
client.send(end_joint_list, vel=1.5, acc=1.5)
|
||||
# client.send(end_joint_list, vel=1.5, acc=1.5)
|
||||
client.send(start_joint_list,1.5,1.5)
|
||||
client.send(end_joint_list,1.5,1.5)
|
||||
|
||||
# Send MoveJ command
|
||||
# client.send(start, vel=0.8, acc=0.8)
|
||||
# client.send(end, vel=0.8, acc=0.8)
|
||||
# client.send(left_arm, vel=head_speed, acc=0.8)
|
||||
# while True:
|
||||
# client.send(action_hello_start, vel=5.0, acc=0.8)
|
||||
# client.send(action_hello_end, vel=5.0, acc=0.8)
|
||||
# client.send(action_touch_start, vel=1.5, acc=0.8)
|
||||
# client.send(action_touch_set, vel=1.5, acc=0.8)
|
||||
# client.send(action_touch_start, vel=1.5, acc=0.8)
|
||||
# client.send(head_dd, vel=1.5, acc=0.8)
|
||||
# client.send(joint_list, vel=1.0, acc=0.8)
|
||||
# while True:
|
||||
# client.send(action_hello_start,vel=5.0, acc=0.8)
|
||||
# client.send(action_hello_end,vel=5.0, acc=0.8)
|
||||
# client.send(action_hello_start, vel=5.0, acc=0.8)
|
||||
|
||||
|
||||
# Close client
|
||||
client.close()
|
||||
|
||||
298
generate_json.py
Normal file
298
generate_json.py
Normal file
@ -0,0 +1,298 @@
|
||||
import json
|
||||
import time
|
||||
|
||||
# ===== 关节列表 =====
|
||||
|
||||
set_joint_list = [
|
||||
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.066444339857},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -20.531186157241},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': -1.340070808067},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -1.952500297438},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.626298915913},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.342241935176},
|
||||
]
|
||||
|
||||
drive_joint_list = [
|
||||
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': -0.011299818873},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -20.60070130641},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': -1.364414209864},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -1.980264780151},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.560519997177},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.442999602707},
|
||||
]
|
||||
|
||||
mode_joint_list = [
|
||||
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.274796141277},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -20.944670868464},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': -1.136851577265},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -1.543831108824},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.465282192444},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.415577797633},
|
||||
]
|
||||
|
||||
home_joint_list = [
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.031161140931},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -20.577257789382},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': -1.381942977952},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -2.055649114477},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.602941780228},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.314926445602},
|
||||
]
|
||||
|
||||
start_joint_list = [
|
||||
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.274967005474},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -20.603120933284},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': -1.499983558976},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -1.492936360109},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.720539063587},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.056068136892},
|
||||
]
|
||||
# start_joint_list = [
|
||||
#
|
||||
# {'joint_name': 'R_WRIST_Y', 'rad': 0.182186797436},
|
||||
# {'joint_name': 'R_WRIST_P', 'rad': -20.304780654951},
|
||||
# {'joint_name': 'R_ELBOW_R', 'rad': -1.535033501186},
|
||||
# {'joint_name': 'R_SHOULDER_Y', 'rad': -1.596287366447},
|
||||
# {'joint_name': 'R_SHOULDER_R', 'rad': -1.034838057889},
|
||||
# {'joint_name': 'R_SHOULDER_P', 'rad': -0.0965316264},
|
||||
# ]
|
||||
|
||||
wyy_joint_list = [
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.319859674658},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -20.645610112769},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': -1.129972394858},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -1.724514301329},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.557216622708},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.379009062563},
|
||||
]
|
||||
|
||||
|
||||
play_music_joint_list = [
|
||||
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.00},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -20.446466942304},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': -1.205457349211},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -1.959358596443},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.776803694305},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.372088113353},
|
||||
]
|
||||
|
||||
|
||||
air_joint_list = [
|
||||
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.368498066731},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -20.806707522108},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': -1.160211560687},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -1.754356682523},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.652379437044},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.325288409885},
|
||||
]
|
||||
|
||||
empty_joint_list = [
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.065426748642},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -20.572653948527},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': -1.354382583029},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -1.857614662799},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.490473270507},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.343988546965},
|
||||
]
|
||||
|
||||
|
||||
nav_joint_list = [
|
||||
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.057895434551},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -20.659321964551},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': -1.348938659874},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -1.969583869368},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.586725818719},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.35676823963},
|
||||
]
|
||||
|
||||
|
||||
air_key_joint_list = [
|
||||
|
||||
{'joint_name': 'R_WRIST_Y', 'rad': 0.394130543969},
|
||||
{'joint_name': 'R_WRIST_P', 'rad': -20.514247819877},
|
||||
{'joint_name': 'R_ELBOW_R', 'rad': -1.122382227544},
|
||||
{'joint_name': 'R_SHOULDER_Y', 'rad': -1.903357855984},
|
||||
{'joint_name': 'R_SHOULDER_R', 'rad': -0.756327518825},
|
||||
{'joint_name': 'R_SHOULDER_P', 'rad': 0.422019377847},
|
||||
]
|
||||
|
||||
def action_one():
|
||||
while True:
|
||||
client.send(start_joint_list, vel=5.0, acc=5.0)
|
||||
time.sleep(2)
|
||||
client.send(set_joint_list, vel=5.0, acc=5.0)
|
||||
client.send(start_joint_list, vel=5.0, acc=5.0)
|
||||
time.sleep(2)
|
||||
client.send(drive_joint_list, vel=5.0, acc=5.0)
|
||||
client.send(start_joint_list, vel=5.0, acc=5.0)
|
||||
client.send(mode_joint_list, vel=5.0, acc=5.0)
|
||||
client.send(start_joint_list, vel=5.0, acc=5.0)
|
||||
client.send(home_joint_list, vel=5.0, acc=5.0)
|
||||
|
||||
def action_two():
|
||||
while True:
|
||||
client.send(start_joint_list, vel=5.0, acc=5.0)
|
||||
time.sleep(2.0)
|
||||
client.send(wyy_joint_list, vel=5.0, acc=5.0)
|
||||
client.send(start_joint_list, vel=5.0, acc=5.0)
|
||||
time.sleep(2.0)
|
||||
client.send(play_music_joint_list, vel=3.0, acc=3.0)
|
||||
client.send(start_joint_list, vel=3.0, acc=3.0)
|
||||
time.sleep(2.0)
|
||||
client.send(play_music_joint_list, vel=3.0, acc=3.0)
|
||||
client.send(start_joint_list, vel=3.0, acc=3.0)
|
||||
time.sleep(2.0)
|
||||
client.send(home_joint_list, vel=5.0, acc=5.0)
|
||||
|
||||
def action_three():
|
||||
while True:
|
||||
client.send(start_joint_list, vel=5.0, acc=5.0)
|
||||
time.sleep(2.0)
|
||||
client.send(empty_joint_list, vel=5.0, acc=5.0)
|
||||
client.send(start_joint_list, vel=5.0, acc=5.0)
|
||||
time.sleep(2.0)
|
||||
client.send(empty_joint_list, vel=5.0, acc=5.0)
|
||||
client.send(start_joint_list, vel=5.0, acc=5.0)
|
||||
time.sleep(2.0)
|
||||
client.send(nav_joint_list, vel=5.0, acc=5.0)
|
||||
client.send(start_joint_list, vel=5.0, acc=5.0)
|
||||
time.sleep(7.0)
|
||||
client.send(home_joint_list, vel=5.0, acc=5.0)
|
||||
|
||||
|
||||
# ===== 录制工具 =====
|
||||
JOINT_LISTS = {
|
||||
'set_joint_list': set_joint_list,
|
||||
'drive_joint_list': drive_joint_list,
|
||||
'mode_joint_list': mode_joint_list,
|
||||
'home_joint_list': home_joint_list,
|
||||
'start_joint_list': start_joint_list,
|
||||
'wyy_joint_list': wyy_joint_list,
|
||||
'play_music_joint_list': play_music_joint_list,
|
||||
'air_joint_list': air_joint_list,
|
||||
'air_key_joint_list': air_key_joint_list,
|
||||
'empty_joint_list': empty_joint_list,
|
||||
'nav_joint_list': nav_joint_list,
|
||||
}
|
||||
|
||||
def find_joint_list_name(lst):
|
||||
for name, value in JOINT_LISTS.items():
|
||||
if value is lst:
|
||||
return name
|
||||
return None
|
||||
|
||||
|
||||
class StopRecording(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class RecordingClient:
|
||||
def __init__(self, max_steps=100):
|
||||
self.max_steps = max_steps
|
||||
self.steps = []
|
||||
self._send_count = 0
|
||||
|
||||
def send(self, joint_list, vel=3.0, acc=3.0):
|
||||
name = find_joint_list_name(joint_list)
|
||||
self.steps.append(("move", name, vel, acc))
|
||||
self._send_count += 1
|
||||
|
||||
# ① 安全兜底：防止真死循环
|
||||
if self._send_count >= self.max_steps:
|
||||
raise StopRecording
|
||||
|
||||
# ② 关键：第一次回到 home 就结束一轮动作
|
||||
if name == "home_joint_list":
|
||||
raise StopRecording
|
||||
|
||||
def sleep(self, seconds):
|
||||
self.steps.append(("wait", seconds))
|
||||
|
||||
|
||||
|
||||
def record_action(func, max_steps=50):
|
||||
global client
|
||||
|
||||
real_client = client
|
||||
real_sleep = time.sleep
|
||||
|
||||
rec_client = RecordingClient(max_steps=max_steps)
|
||||
|
||||
try:
|
||||
client = rec_client
|
||||
time.sleep = rec_client.sleep
|
||||
func()
|
||||
except StopRecording:
|
||||
pass
|
||||
finally:
|
||||
client = real_client
|
||||
time.sleep = real_sleep
|
||||
|
||||
return rec_client.steps
|
||||
|
||||
|
||||
def joints_to_cmds(joint_list, default_vel=1.0):
|
||||
return [
|
||||
{
|
||||
"jointName": j["joint_name"],
|
||||
"rad": j["rad"],
|
||||
"vel": default_vel
|
||||
}
|
||||
for j in joint_list
|
||||
]
|
||||
|
||||
|
||||
def steps_to_json_obj(steps):
|
||||
obj = {}
|
||||
idx = 1
|
||||
for s in steps:
|
||||
kind = s[0]
|
||||
if kind == "move":
|
||||
_, list_name, vel, acc = s
|
||||
key = f"{idx}_{list_name}"
|
||||
joint_list = JOINT_LISTS[list_name]
|
||||
obj[key] = {
|
||||
"acc": acc,
|
||||
"vel": vel,
|
||||
"cmds": joints_to_cmds(joint_list, default_vel=1.0),
|
||||
}
|
||||
elif kind == "wait":
|
||||
_, seconds = s
|
||||
key = f"{idx}_wait"
|
||||
obj[key] = seconds
|
||||
idx += 1
|
||||
return obj
|
||||
|
||||
|
||||
# ===== 主入口：录制并保存到文件 =====
|
||||
if __name__ == "__main__":
|
||||
# 占位真实 client（防止 record_action 里引用失败）
|
||||
class DummyClient:
|
||||
def send(self, *args, **kwargs):
|
||||
pass
|
||||
|
||||
client = DummyClient()
|
||||
|
||||
# 分别录制三个动作
|
||||
steps_one = record_action(action_one, max_steps=20)
|
||||
steps_two = record_action(action_two, max_steps=20)
|
||||
steps_three = record_action(action_three, max_steps=20)
|
||||
|
||||
data = {
|
||||
"action_one": steps_to_json_obj(steps_one),
|
||||
"action_two": steps_to_json_obj(steps_two),
|
||||
"action_three": steps_to_json_obj(steps_three),
|
||||
}
|
||||
|
||||
# ✅ 保存到文件
|
||||
with open("actions.json", "w", encoding="utf-8") as f:
|
||||
json.dump(data, f, indent=2, ensure_ascii=False)
|
||||
|
||||
print("已保存到 actions.json")
|
||||
Loading…
Reference in New Issue
Block a user