#!/usr/bin/env python3 """Load ~/ros2/config/site.yaml and print bash export lines or JSON. Usage: eval "$(python3 ~/ros2/scripts/lib/export_site_env.py)" python3 ~/ros2/scripts/lib/export_site_env.py --json python3 ~/ros2/scripts/lib/export_site_env.py --print """ from __future__ import annotations import argparse import json import os import sys from pathlib import Path try: import yaml except ImportError: yaml = None # type: ignore def _root() -> Path: return Path(__file__).resolve().parents[2] def site_path() -> Path: env = os.environ.get("SITE_CONFIG", "").strip() if env: return Path(env).expanduser() return _root() / "config" / "site.yaml" def load_site(path: Path | None = None) -> dict: path = path or site_path() if not path.is_file(): raise FileNotFoundError(f"site config not found: {path}") text = path.read_text(encoding="utf-8") if yaml is None: raise RuntimeError("PyYAML required: pip/conda install pyyaml") data = yaml.safe_load(text) or {} if not isinstance(data, dict): raise ValueError(f"invalid site.yaml: {path}") return data def list_robots(data: dict) -> list[dict]: """Catalog entries from robot.robots (list or SN-keyed map).""" raw = (data.get("robot") or {}).get("robots") or [] out: list[dict] = [] if isinstance(raw, dict): for sn, item in raw.items(): row = dict(item or {}) if isinstance(item, dict) else {} row.setdefault("sn", str(sn)) out.append(row) return out if isinstance(raw, list): for item in raw: if isinstance(item, dict) and str(item.get("sn") or "").strip(): out.append(dict(item)) return out # --arm 89|91|left|right 与 SN 别名。禁止把 89 的手眼/相机套到 91。 _ARM_ALIASES = { "89": "Rizon4-063989", "left": "Rizon4-063989", "左": "Rizon4-063989", "左臂": "Rizon4-063989", "左臂89": "Rizon4-063989", "91": "Rizon4-063991", "right": "Rizon4-063991", "右": "Rizon4-063991", "右臂": "Rizon4-063991", "右臂91": "Rizon4-063991", } _ARM_SECTION_KEYS = ("camera", "gripper", "paths", "servo", "handeye", "go_home", "yolo") def _deep_merge(base: dict, overlay: dict) -> dict: out = dict(base) for k, v in overlay.items(): if isinstance(out.get(k), dict) and isinstance(v, dict): out[k] = _deep_merge(out[k], v) else: out[k] = v return out def normalize_robot_sn(data: dict, want: str) -> str: """Map 89/91/left/right/label → full Flexiv SN.""" w = (want or "").strip() if not w: return w mapped = _ARM_ALIASES.get(w) or _ARM_ALIASES.get(w.lower()) if mapped: return mapped for item in list_robots(data): sn = str(item.get("sn") or "").strip() label = str(item.get("label") or "").strip() arm = str(item.get("arm") or "").strip().lower() if w == sn or w == label or w.lower() == arm: return sn if sn.endswith(w) and w.isdigit() and len(w) >= 2: return sn return w def resolve_robot(data: dict, sn: str | None = None) -> dict: """Active arm: ROBOT_SN env overrides robot.sn; catalog fills ip/iface/frames.""" robot = dict(data.get("robot") or {}) catalog = list_robots(data) want = normalize_robot_sn( data, sn or os.environ.get("ROBOT_SN") or os.environ.get("ROBOT_ARM") or robot.get("sn") or "", ) match: dict = {} for item in catalog: if str(item.get("sn") or "").strip() == want: match = dict(item) break out = {k: v for k, v in robot.items() if k != "robots"} out.update({k: v for k, v in match.items() if k != "robots"}) out["sn"] = want if not str(out.get("arm") or "").strip(): if "063989" in want: out["arm"] = "left" elif "063991" in want: out["arm"] = "right" if not str(out.get("joint_prefix") or "").strip() and want: out["joint_prefix"] = f"{want}_" if not str(out.get("base_frame") or "").strip() and want: out["base_frame"] = f"{want}_base_link" if not str(out.get("ee_frame") or "").strip() and want: out["ee_frame"] = f"{want}_flange" net = data.get("network") or {} if not str(out.get("iface") or "").strip(): out["iface"] = str(net.get("prefer_iface") or "") if not str(out.get("ip") or "").strip(): out["ip"] = "192.168.100.1" if not str(out.get("pc_ip") or "").strip(): out["pc_ip"] = "192.168.100.10" return out def apply_active_arm(data: dict, sn: str | None = None) -> tuple[dict, dict]: """Merge robots[] camera/gripper/paths/servo onto site defaults for the active SN.""" robot = resolve_robot(data, sn) merged = dict(data) for key in _ARM_SECTION_KEYS: base = merged.get(key) if isinstance(merged.get(key), dict) else {} ov = robot.get(key) if isinstance(robot.get(key), dict) else {} merged[key] = _deep_merge(dict(base or {}), dict(ov or {})) return merged, robot def camera_ns(data: dict) -> str: """Topic namespace for the active wrist camera (d405_left / d405_right).""" cam = data.get("camera") or {} name = str(cam.get("name") or "d405").strip().strip("/") return name or "d405" def camera_frames(data: dict) -> tuple[str, str, str]: """(namespace, optical_frame, depth_topic) for the active arm.""" ns = camera_ns(data) yolo = data.get("yolo") or {} frame = str(yolo.get("camera_frame") or "").strip() depth = str(yolo.get("depth_topic") or "").strip() if frame in ("", "d405_color_optical_frame"): frame = f"{ns}_color_optical_frame" if depth in ("", "/d405/aligned_depth_to_color/image_raw"): depth = f"/{ns}/aligned_depth_to_color/image_raw" return ns, frame, depth def flatten(data: dict) -> dict: """Flat SITE_* env map for bash scripts.""" data, robot = apply_active_arm(data) paths = data.get("paths") or {} cam = data.get("camera") or {} yolo = data.get("yolo") or {} servo = data.get("servo") or {} home = data.get("go_home") or {} net = data.get("network") or {} he = data.get("handeye") or {} grip = data.get("gripper") or {} named_poses = str( robot.get("named_poses_file") or paths.get("named_poses_file") or str(_root() / "src" / "arm_control" / "config" / "named_poses.yaml") ) weights = str(paths.get("yolo_weights") or "") # Resolve active.pt symlink to real path for display try: weights_resolved = str(Path(weights).expanduser().resolve()) except Exception: weights_resolved = weights out = { "SITE_CONFIG": str(site_path()), "SITE_ROS2_ROOT": str(_root()), "SITE_ROBOT_SN": str(robot.get("sn") or "Rizon4-063989"), "SITE_ROBOT_IP": str(robot.get("ip") or "192.168.100.1"), "SITE_PC_IP": str(robot.get("pc_ip") or "192.168.100.10"), "SITE_JOINT_PREFIX": str(robot.get("joint_prefix") or ""), "SITE_BASE_FRAME": str(robot.get("base_frame") or ""), "SITE_EE_FRAME": str(robot.get("ee_frame") or ""), "SITE_ROBOT_TOOL_NAME": str(robot.get("tool_name") or ""), "SITE_ROBOT_LABEL": str(robot.get("label") or ""), "SITE_ROBOT_ARM": str(robot.get("arm") or ""), "SITE_NAMED_POSES_FILE": named_poses, "SITE_ROBOT_CATALOG": ",".join( str(r.get("sn") or "") for r in list_robots(data) if r.get("sn") ), "SITE_YOLO_WEIGHTS": weights, "SITE_YOLO_WEIGHTS_RESOLVED": weights_resolved, "SITE_HANDEYE_WAYPOINTS": str( paths.get("handeye_waypoints") or str(_root() / "handeye" / "poses" / "89_eye_in_hand.yaml") ), "SITE_HANDEYE_CALIBRATE": str( paths.get("handeye_calibrate") or str(_root() / "handeye" / "calibrate.yaml") ), "SITE_HANDEYE_TOUR": str( paths.get("handeye_tour") or str(_root() / "handeye" / "waypoints.yaml") ), "SITE_HANDEYE_WORKDIR": str( paths.get("handeye_workdir") or "/tmp/handeye_calib" ), "SITE_HANDEYE_FILE": str( paths.get("handeye_file") or str(_root() / "handeye" / "results" / "89_eye_in_hand.yaml") ), "SITE_HANDEYE_MODE": str(he.get("mode") or "eye_in_hand"), # 板尺寸默认值必须与 site.yaml / 结果文件头里的实际板子一致。 # 这里原先是 11/16/0.011（一张早期用过、现已不存在的板），与 site.yaml 的 # 8/11/0.015 冲突：一旦 site.yaml 缺这几个键就会静默用错尺寸， # 表现为"标定能跑完但结果明显不对"。 "SITE_HANDEYE_BOARD_COLS": str(int(he.get("board_cols") or 8)), "SITE_HANDEYE_BOARD_ROWS": str(int(he.get("board_rows") or 11)), "SITE_HANDEYE_SQUARE_M": str(float(he.get("square_size_m") or 0.015)), "SITE_HANDEYE_VEL_SCALE": str(float(he.get("velocity_scale") or 0.05)), "SITE_HANDEYE_MOVE_T": str(float(he.get("move_time_sec") or 8.0)), "SITE_HANDEYE_SETTLE_SEC": str(float(he.get("settle_sec") or 1.5)), "SITE_HANDEYE_SETTLE_QD": str(float(he.get("settle_qd_max") or 0.015)), "SITE_HANDEYE_SETTLE_STABLE": str(float(he.get("settle_stable_sec") or 0.6)), "SITE_HANDEYE_SETTLE_TO": str(float(he.get("settle_timeout_sec") or 8.0)), "SITE_HANDEYE_PIN_HOLDS": str(int(he.get("pin_holds") if he.get("pin_holds") is not None else 2)), "SITE_HANDEYE_PIN_SEC": str(float(he.get("pin_hold_sec") or 0.45)), "SITE_HANDEYE_SKIP_UNSTABLE": ( "true" if he.get("skip_unstable_poses", True) else "false" ), "SITE_FASTDDS_PROFILE": str(paths.get("fastdds_profile") or ""), "SITE_CAM_NAME": camera_ns(data), "SITE_CAM_SERIAL": str(cam.get("serial") or ""), "SITE_CAM_WIDTH": str(int(cam.get("width") or 848)), "SITE_CAM_HEIGHT": str(int(cam.get("height") or 480)), "SITE_CAM_FPS": str(int(cam.get("fps") or 30)), "SITE_CAM_ENABLE_DEPTH": "1" if cam.get("enable_depth", True) else "0", "SITE_CAM_ENABLE_INFRA": "1" if cam.get("enable_infra", True) else "0", "SITE_CAM_PREVIEW": "1" if cam.get("preview", True) else "0", "SITE_CAM_PREVIEW_STEREO": "1" if cam.get("preview_stereo", True) else "0", "SITE_CAM_OVERLAY_HOLD": str(float(cam.get("overlay_hold_sec") or 1.5)), "SITE_CAM_USE_SITE_RES": "1" if cam.get("use_site_resolution", True) else "0", "SITE_CAM_AUTO_EXPOSURE": "1" if cam.get("auto_exposure", True) else "0", "SITE_CAM_AE_LIMIT_US": str(float(cam.get("ae_limit_us") if cam.get("ae_limit_us") is not None else 4000)), "SITE_CAM_EMITTER": "1" if cam.get("emitter_enabled", False) else "0", "SITE_CAM_LASER_POWER": str(float(cam.get("laser_power") if cam.get("laser_power") is not None else 0)), "SITE_CAM_EXPOSURE_US": str(float(cam.get("exposure_us") or 0)), "SITE_CAM_GAIN": str(float(cam.get("gain") or 0)), "SITE_D435_SERIAL": str(((data.get("cameras") or {}).get("d435") or {}).get("serial") or ""), "SITE_D435_WIDTH": str(int(((data.get("cameras") or {}).get("d435") or {}).get("width") or 1280)), "SITE_D435_HEIGHT": str(int(((data.get("cameras") or {}).get("d435") or {}).get("height") or 720)), "SITE_D435_FPS": str(int(((data.get("cameras") or {}).get("d435") or {}).get("fps") or 30)), "SITE_D405_LEFT_SERIAL": str(((data.get("cameras") or {}).get("d405_left") or {}).get("serial") or "352122274408"), "SITE_D405_RIGHT_SERIAL": str(((data.get("cameras") or {}).get("d405_right") or {}).get("serial") or "260522274442"), "SITE_YOLO_CONF": str(yolo.get("conf") or 0.35), "SITE_YOLO_IMGSZ": str(int(yolo.get("imgsz") or 416)), "SITE_YOLO_DEVICE": str(yolo.get("device") or "0"), "SITE_YOLO_MIN_CONF": str(yolo.get("min_conf") or 0.35), "SITE_GO_HOME_POSE": str(home.get("pose") or "home"), "SITE_GO_HOME_SPEED": str(home.get("speed") or 0.25), "SITE_NET_IFACE": str(robot.get("iface") or net.get("prefer_iface") or ""), "SITE_SERVO_Z_REF": str(servo.get("z_ref_m") or 0.40), "SITE_EE_X_M": str(float(servo.get("ee_x_m") or 0.25)), "SITE_EE_Y_M": str(float(servo.get("ee_y_m") or 0.0)), "SITE_EE_Z_M": str(float(servo.get("ee_z_m") or 0.24)), "SITE_SERVO_WATCHDOG": str(servo.get("watchdog_timeout_sec") or 0.3), "SITE_CAMERA_FRAME": camera_frames(data)[1], "SITE_GRIP_VENDOR": str(grip.get("vendor") or "dh"), "SITE_GRIP_MODEL": str(grip.get("model") or "PGEA-100-20-W"), "SITE_GRIP_SN": str(grip.get("sn") or ""), "SITE_GRIP_BACKEND": str(grip.get("backend") or "usb"), "SITE_GRIP_DEVICE": str(grip.get("device_name") or "GripperDahuanModbus"), "SITE_GRIP_FORCE_N": str(float(grip.get("force_n") or 50.0)), "SITE_GRIP_VEL_MPS": str(float(grip.get("vel_mps") or 0.05)), "SITE_GRIP_PORT": str(grip.get("port") or "/dev/ttyUSB0"), "SITE_GRIP_BAUD": str(int(grip.get("baud") or 115200)), "SITE_GRIP_SLAVE": str(int(grip.get("slave_id") or 1)), "SITE_GRIP_STROKE_MM": str(float(grip.get("stroke_mm") or 20.0)), "SITE_GRIP_FORCE": str(int(grip.get("force_pct") or 50)), "SITE_GRIP_SPEED": str(int(grip.get("speed_pct") or 50)), "SITE_GRIP_AUTO_INIT": "true" if grip.get("auto_init", True) else "false", "SITE_GRIP_RS485_RTS": str(grip.get("rs485_rts") or ""), "SITE_HOLE_BACKEND": str((data.get("hole_detect") or {}).get("backend") or "two_stage"), "SITE_HOLE_WEIGHTS": str( (data.get("hole_detect") or {}).get("weights") or paths.get("hole_weights") or str(_root() / "models" / "hole_insert" / "best.pt") ), "SITE_HOLE_WORKPIECE_WEIGHTS": str( (data.get("hole_detect") or {}).get("workpiece_weights") or paths.get("hole_workpiece_weights") or weights ), "SITE_HOLE_CONFIG": str( (data.get("hole_detect") or {}).get("config") or ( str(_root() / "src" / "arm_application" / "config" / "hole_detect.yaml") if str((data.get("hole_detect") or {}).get("backend") or "two_stage") in ("two_stage", "hough_roi") else str(_root() / "src" / "arm_application" / "config" / "hole_insert.yaml") ) ), "SITE_TACTILE_BACKEND": str((data.get("tactile") or {}).get("backend") or "orisys"), "SITE_TACTILE_CONFIG": str((data.get("tactile") or {}).get("config") or "dd03"), "SITE_TACTILE_CONFIG_FILE": str( (data.get("tactile") or {}).get("config_file") or str(_root() / "src" / "arm_application" / "config" / "orisys" / "dd03.json") ), "SITE_TACTILE_LEFT": str((data.get("tactile") or {}).get("left_video", 0)), "SITE_TACTILE_RIGHT": str((data.get("tactile") or {}).get("right_video", 2)), } return out def gripper_overrides(data: dict) -> dict: """ROS parameter dict for dh_pgea_node (DH Modbus, not Flexiv gripper).""" data, _robot = apply_active_arm(data) g = data.get("gripper") or {} return { "port": str(g.get("port") or "/dev/ttyUSB0"), "baud": int(g.get("baud") or 115200), "slave_id": int(g.get("slave_id") or 1), "stroke_mm": float(g.get("stroke_mm") or 20.0), "force_pct": int(g.get("force_pct") or 50), "speed_pct": int(g.get("speed_pct") or 50), "auto_init": bool(g.get("auto_init", True)), "state_hz": float(g.get("state_hz") or 20.0), "model": str(g.get("model") or "PGEA-100-20-W"), "serial_number": str(g.get("sn") or ""), "open_position": int(g.get("open_position") if g.get("open_position") is not None else 1000), "close_position": int(g.get("close_position") if g.get("close_position") is not None else 0), "rs485_rts": str(g.get("rs485_rts") or ""), } def perception_overrides(data: dict) -> dict: """ROS parameter dict for perception_node.""" data, _robot = apply_active_arm(data) paths = data.get("paths") or {} yolo = data.get("yolo") or {} cam_ns, cam_frame, depth_topic = camera_frames(data) obj = str(yolo.get("object_frame") or "").strip() if not obj or obj == "tracked_object": arm = str((_robot or {}).get("arm") or "") sn = str((_robot or {}).get("sn") or "") if "063991" in sn or arm == "right": obj = "tracked_object_91" elif "063989" in sn or arm == "left": obj = "tracked_object_89" else: obj = "tracked_object" return { "weights": str(paths.get("yolo_weights") or ""), "conf": float(yolo.get("conf") or 0.10), "iou": float(yolo.get("iou") or 0.45), "imgsz": int(yolo.get("imgsz") or 416), "device": str(yolo.get("device") or "0"), "half_precision": bool(yolo.get("half_precision", True)), "backend": str(yolo.get("backend") or "auto"), "mp_infer": bool(yolo.get("mp_infer", True)), "min_conf": float(yolo.get("min_conf") or 0.12), "vision_hz": float(yolo.get("vision_hz") or 30.0), "infer_max_width": int(yolo.get("infer_max_width") if yolo.get("infer_max_width") is not None else 0), "box_ema_alpha": float(yolo.get("box_ema_alpha") or 0.85), "miss_clear_frames": int(yolo.get("miss_clear_frames") or 12), "overlay_hold_on_miss": bool(yolo.get("overlay_hold_on_miss", True)), "jump_px": float(yolo.get("jump_px") or 280.0), "jump_z_m": float(yolo.get("jump_z_m") or 0.20), "z_ref_m": float(yolo.get("z_ref_m") or 0.22), "min_depth_m": float(yolo.get("min_depth_m") or 0.04), "max_depth_m": float(yolo.get("max_depth_m") or 0.55), "work_z_max_m": float(yolo.get("work_z_max_m") or 0.50), "hold_point_on_miss": bool(yolo.get("hold_point_on_miss", True)), "miss_hold_point_frames": int(yolo.get("miss_hold_point_frames") or 2), "meas_blend": float(yolo.get("meas_blend") or 0.65), "z_alpha_min": float(yolo.get("z_alpha_min") or 0.10), "z_alpha_max": float(yolo.get("z_alpha_max") or 0.60), "z_alpha_gain": float(yolo.get("z_alpha_gain") or 2.0), "camera_frame": cam_frame, "object_frame": obj, "depth_topic": depth_topic, "camera_source": cam_ns, "feature_mode": str(yolo.get("feature_mode") or "plane"), "plane_inlier_m": float(yolo.get("plane_inlier_m") or 0.008), "plane_band_m": float(yolo.get("plane_band_m") or 0.06), } def servo_overrides(data: dict) -> dict: """ROS parameter dict for servo_node.""" data, robot = apply_active_arm(data) paths = data.get("paths") or {} yolo = data.get("yolo") or {} servo = data.get("servo") or {} _ns, cam_frame, _depth = camera_frames(data) out = { "joint_prefix": str(robot.get("joint_prefix") or ""), "base_frame": str(robot.get("base_frame") or ""), "ee_frame": str(robot.get("ee_frame") or ""), "handeye_file": str(paths.get("handeye_file") or ""), "camera_frame": cam_frame, "handeye_child_frame": cam_frame, "arm_label": str(robot.get("label") or robot.get("arm") or ""), "z_ref_m": float(servo.get("z_ref_m") or yolo.get("z_ref_m") or 0.40), } # Pass through remaining servo keys that match node params keys = [ "control_hz", "watchdog_timeout_sec", "lost_timeout_sec", "stale_hold_sec", "max_extrapolate_sec", "predict_enable", "predict_sec", "predict_v_max", "predict_jump_m", "kp_xy", "ki_xy", "kd_xy", "kp_z", "ki_z", "kd_z", "i_sep_pos_m", "deadzone_m", "deadzone_z_m", "v_max_xy", "v_max_z", "v_approach_z", "z_min_m", "approach_xy_gate_m", "min_ee_z_m", "e_xy_clip_m", "ee_x_m", "ee_y_m", "ee_z_m", "ee_hold_xy", "ee_vertical_down", "xy_track", "hover_offset_ee_xy_m", "arm_label", "ee_hold_kp", "ee_w_max", "lock_hold_sec", "a_max", "max_qdot", "damping", "vel_lpf_alpha", "dq_window_size", "traj_stream_hz", "exec_horizon_sec", "min_cmd_delta_rad", "point_topic", "traj_topic", "use_static_handeye_tf", "workspace_xyz_min", "workspace_xyz_max", ] for k in keys: if k in servo: out[k] = servo[k] return out def main() -> int: ap = argparse.ArgumentParser() ap.add_argument("--json", action="store_true") ap.add_argument("--print", action="store_true", dest="do_print") ap.add_argument("--config", default="") ap.add_argument("--sn", "--arm", dest="sn", default="", help="89|91|left|right|full SN") args = ap.parse_args() if args.sn: os.environ["ROBOT_SN"] = str(args.sn) path = Path(args.config).expanduser() if args.config else site_path() data = load_site(path) flat = flatten(data) if args.json: print(json.dumps({"site": data, "env": flat}, ensure_ascii=False, indent=2)) return 0 if args.do_print: print(f"site config: {path}") print( f" robot SN : {flat['SITE_ROBOT_SN']}" f"{(' (' + flat['SITE_ROBOT_LABEL'] + ')') if flat.get('SITE_ROBOT_LABEL') else ''}" f" arm={flat.get('SITE_ROBOT_ARM') or '?'}" ) print(f" catalog : {flat.get('SITE_ROBOT_CATALOG') or '(none)'}") print(f" robot IP : {flat['SITE_ROBOT_IP']} pc={flat['SITE_PC_IP']} iface={flat.get('SITE_NET_IFACE') or '?'}") print(f" frames : prefix={flat['SITE_JOINT_PREFIX']} ee={flat['SITE_EE_FRAME']}") print(f" tool name : {flat.get('SITE_ROBOT_TOOL_NAME') or '(keep current)'}") catalog_sns = [str(r.get("sn") or "") for r in list_robots(data)] if catalog_sns and flat["SITE_ROBOT_SN"] not in catalog_sns: print( f" WARNING: robot.sn {flat['SITE_ROBOT_SN']!r} is not in robots[]", file=sys.stderr, ) print(f" yolo weights : {flat['SITE_YOLO_WEIGHTS']}") print(f" resolved : {flat['SITE_YOLO_WEIGHTS_RESOLVED']}") print(f" handeye : {flat['SITE_HANDEYE_FILE']}") print(f" handeye wp : {flat['SITE_HANDEYE_WAYPOINTS']}") print(f" handeye dir : {flat['SITE_HANDEYE_WORKDIR']}") print(f" named poses : {flat.get('SITE_NAMED_POSES_FILE')}") print( " board : " f"{flat['SITE_HANDEYE_BOARD_COLS']}x{flat['SITE_HANDEYE_BOARD_ROWS']} " f"inner, square={flat['SITE_HANDEYE_SQUARE_M']} m" ) print( f" camera : serial={flat['SITE_CAM_SERIAL'] or '(empty)'} " f"{flat['SITE_CAM_WIDTH']}x{flat['SITE_CAM_HEIGHT']}@{flat['SITE_CAM_FPS']} " f"ae={flat.get('SITE_CAM_AUTO_EXPOSURE')} " f"exp={flat.get('SITE_CAM_EXPOSURE_US')}us " f"gain={flat.get('SITE_CAM_GAIN')} " f"ae_limit={flat.get('SITE_CAM_AE_LIMIT_US')}us emitter={flat.get('SITE_CAM_EMITTER')}" ) print( f" catalog cam : leftD405={flat.get('SITE_D405_LEFT_SERIAL')} " f"rightD405={flat.get('SITE_D405_RIGHT_SERIAL')} " f"D435={flat.get('SITE_D435_SERIAL')}" ) print( f" gripper : {flat.get('SITE_GRIP_MODEL')} port={flat.get('SITE_GRIP_PORT')}" ) print( f" hole_detect : backend={flat.get('SITE_HOLE_BACKEND')} " f"weights={flat.get('SITE_HOLE_WEIGHTS')}" ) print( f" tactile : backend={flat.get('SITE_TACTILE_BACKEND')} " f"L={flat.get('SITE_TACTILE_LEFT')} R={flat.get('SITE_TACTILE_RIGHT')} " f"cfg={flat.get('SITE_TACTILE_CONFIG')}" ) print(f" go_home : pose={flat['SITE_GO_HOME_POSE']} speed={flat['SITE_GO_HOME_SPEED']}") he_path = Path(flat["SITE_HANDEYE_FILE"]).expanduser() if not he_path.is_file(): print(f" WARNING: hand-eye file missing: {he_path}", file=sys.stderr) else: try: he_data = yaml.safe_load(he_path.read_text(encoding="utf-8")) or {} except Exception: he_data = {} if isinstance(he_data, dict) and ( he_data.get("uncalibrated") or "T_4x4" not in he_data ): print( f" WARNING: {he_path.name} is not calibrated for this arm " f"(run_handeye.sh teach/calibrate --arm {flat.get('SITE_ROBOT_ARM') or '91'})", file=sys.stderr, ) if "063991" in flat["SITE_ROBOT_SN"] and flat.get("SITE_CAM_SERIAL") == flat.get("SITE_D405_LEFT_SERIAL"): print( " WARNING: 91 is using the LEFT wrist D405 serial — check robots[].camera.serial", file=sys.stderr, ) if "RGI" in str(flat.get("SITE_GRIP_MODEL") or ""): print( " NOTE: 本臂是 RGI。CLI: bash ~/ros2/scripts/run_gripper.sh --arm 91 --cli open|rotate", file=sys.stderr, ) w = Path(flat["SITE_YOLO_WEIGHTS"]).expanduser() if not w.is_file(): print(f" WARNING: weights file missing: {w}", file=sys.stderr) return 2 return 0 # bash exports for k, v in flat.items(): # escape for eval vv = str(v).replace("'", "'\"'\"'") print(f"export {k}='{vv}'") return 0 if __name__ == "__main__": raise SystemExit(main())