arm_dev
7d22f777c8
现场 site.yaml、权重和编译产物仍不入库；模板只留占位符。 Co-authored-by: Cursor <cursoragent@cursor.com>
64 lines
2.3 KiB
Python
64 lines
2.3 KiB
Python
#!/usr/bin/env python3
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"""确定性复现「工件被推走 ⇒ 规没进孔」：在 k1 之后把工件挪 25mm。
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为什么需要它：这个故障在自然运行里是**随机**的（实测三跑坏一跑），
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靠碰运气验证判据不可靠。这里改成主动制造：等流程走到 S10（离开 k1、去 k2），
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就把工件沿 +Y 推 25mm —— 而 k2 的孔位是 S05 一次性定下的，于是必然失配。
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判据（要看的就是这个）：S07 必须报「规没有进孔」（HOLE_LOST），
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**不是** 之前那句把人引去查工具系的「转轴偏差」。
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"""
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from __future__ import annotations
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import pathlib
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import subprocess
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import sys
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import time
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ROOT = pathlib.Path(__file__).resolve().parents[1]
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sys.path.insert(0, str(ROOT / "src" / "arm_sim_gazebo"))
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LOG = pathlib.Path("/tmp/sim_guard.log")
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WORLD = "assembly"
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SHIFT_M = -0.020 # 与 2026-09-28 自然失效同向同量级（工件 y: 0.000 → -0.0206）
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def _shift() -> None:
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from arm_sim_gazebo.sim_pose_service import set_model_pose
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# 工件当前在 (0.520, 0.000, 0.400)，沿 +Y 挪 25mm（远超孔半径，必然错过）
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ok, out = set_model_pose(WORLD, "workpiece", (0.520, SHIFT_M, 0.400), (0.0, 0.0, 0.0, 1.0))
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print(f"[driver] 推工件 {SHIFT_M * 1000:.0f}mm -> {'成功' if ok else '失败'}: {out[:160]}")
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def main() -> int:
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LOG.write_text("")
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proc = subprocess.Popen(
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["bash", "scripts/run_gauge_assembly.sh", "--arm", "sim", "--sim"],
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cwd=str(ROOT), stdout=LOG.open("w"), stderr=subprocess.STDOUT,
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)
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print(f"[driver] 流程已起 pid={proc.pid}，等它走到 S10…")
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shifted = False
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t0 = time.monotonic()
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while proc.poll() is None and time.monotonic() - t0 < 1500:
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txt = LOG.read_text(errors="replace")
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if not shifted and "S10_to_k2" in txt:
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print("[driver] 检测到 S10_to_k2 —— 现在推工件")
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_shift()
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shifted = True
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time.sleep(1.0)
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proc.wait(timeout=30)
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txt = LOG.read_text(errors="replace")
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print(f"[driver] 流程退出码 = {proc.returncode}, 是否推过工件 = {shifted}")
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for line in txt.splitlines():
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if "规没有进孔" in line or "孔位失效" in line or "转轴偏差" in line:
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print(" |", line.strip()[:150])
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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