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>
1080 lines
51 KiB
Python
1080 lines
51 KiB
Python
#!/usr/bin/env python3
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"""读取 ``~/ros2/config/site.yaml``，打印 bash 的 export 行或 JSON。
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用法:
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eval "$(python3 ~/ros2/scripts/lib/export_site_env.py)"
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python3 ~/ros2/scripts/lib/export_site_env.py --json
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python3 ~/ros2/scripts/lib/export_site_env.py --print
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"""
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from __future__ import annotations
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import argparse
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import json
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import os
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import sys
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from pathlib import Path
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try:
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import yaml
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except ImportError:
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yaml = None # type: ignore
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def _root() -> Path:
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return Path(__file__).resolve().parents[2]
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def site_path() -> Path:
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env = os.environ.get("SITE_CONFIG", "").strip()
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if env:
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return Path(env).expanduser()
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return _root() / "config" / "site.yaml"
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def load_site(path: Path | None = None) -> dict:
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path = path or site_path()
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if not path.is_file():
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raise FileNotFoundError(f"找不到 site 配置: {path}")
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text = path.read_text(encoding="utf-8")
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if yaml is None:
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raise RuntimeError("需要 PyYAML：pip/conda install pyyaml")
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data = yaml.safe_load(text) or {}
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if not isinstance(data, dict):
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raise ValueError(f"无效的 site.yaml: {path}")
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return data
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def list_robots(data: dict) -> list[dict]:
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"""从 robot.robots 取清单条目（列表或按 SN 索引的映射）。"""
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raw = (data.get("robot") or {}).get("robots") or []
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out: list[dict] = []
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if isinstance(raw, dict):
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for sn, item in raw.items():
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row = dict(item or {}) if isinstance(item, dict) else {}
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row.setdefault("sn", str(sn))
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out.append(row)
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return out
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if isinstance(raw, list):
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for item in raw:
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if isinstance(item, dict) and str(item.get("sn") or "").strip():
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out.append(dict(item))
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return out
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# 侧别词 —— 这是**语言别名**，不是站点数据：任何站点都希望
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# `--arm left` / `--arm 左` / `--arm 左臂` 能选中 `robots[]` 里 `arm: left` 的那台。
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#
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# 这里**绝不允许**出现具体 SN（`Rizon4-063989` 之类）。历史上这里是一张
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# `89 -> Rizon4-063989` 的写死映射表：换一台机器人后 `--arm 89` 仍然会选中
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# 上一台，而且不报错（R1.1）。现在 `89` 这个写法的来源是
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# **这台机器 SN 的末两位**，由 `_arm_index()` 从 `robots[]` 现算出来。
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_SIDE_WORDS = {
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"left": "left",
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"l": "left",
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"左": "left",
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"左臂": "left",
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"right": "right",
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"r": "right",
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"右": "right",
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"右臂": "right",
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}
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_ARM_SECTION_KEYS = (
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"camera", "gripper", "paths", "servo", "handeye", "go_home", "yolo", "perception",
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# gauge_assembly：几何类参数是**按台子**的 —— 同一个数在仿真与真机上不同。
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# 例：workpiece_surface_z_m 仿真 0.412（臂站地面、台面 0.40m），真机 0.012。
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# 不登记就会**静默失效**：site.yaml 里写了 robots[sim].gauge_assembly，
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# 合出来还是全局值，S07 的几何自检算错 0.4m 却不报错。
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"gauge_assembly",
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)
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def arm_short_id(sn: str) -> str:
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"""Flexiv 序列号的"臂号"= 末两位数字（``Rizon4-063989`` → ``89``）。
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手眼文件名、结果文件都用这个编号。它是从 SN 派生出来的，不是常量。
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"""
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tail = str(sn or "").strip().rsplit("-", 1)[-1]
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return tail[-2:] if tail.isdigit() and len(tail) >= 2 else ""
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def _arm_index(data: dict) -> dict[str, str]:
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"""从 ``robots[]`` 派生 ``别名 -> SN`` 索引。
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别名包括：完整 SN、``label``（如 ``左臂89``）、侧别词（``left``/``左``）、
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SN 末两位（``89``）。全部来自 site.yaml —— 这是"换一台机器人只改配置"的前提。
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"""
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index: dict[str, str] = {}
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for item in list_robots(data):
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sn = str(item.get("sn") or "").strip()
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if not sn:
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continue
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names = {sn.lower()}
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label = str(item.get("label") or "").strip()
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if label:
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names.add(label.lower())
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arm = str(item.get("arm") or "").strip().lower()
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if arm:
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names.add(arm)
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names.update(word for word, side in _SIDE_WORDS.items() if side == arm)
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short = arm_short_id(sn)
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if short:
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names.add(short)
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if arm:
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names.add(f"{arm}{short}")
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for name in names:
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if name:
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index.setdefault(name, sn)
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return index
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def _looks_like_full_sn(token: str) -> bool:
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"""区分"完整 SN"与"臂别名"。
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``Rizon4-063989`` 这种带连字符的写法允许不在 ``robots[]`` 里
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（单臂站点可以只写 ``robot.sn`` 不登记清单）；而 ``89`` / ``left`` 这类
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**别名**查不到就必须报错，不能当成 SN 硬用。
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"""
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return "-" in token
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def normalize_robot_sn(data: dict, want: str) -> str:
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"""把 89 / left / 左臂 / label / 完整 SN 归一成完整 SN（查不到则原样返回）。"""
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return resolve_robot_sn(data, want)[0]
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def resolve_robot_sn(data: dict, want: str) -> tuple[str, bool]:
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"""归一化并报告是否命中。
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返回 ``(sn, matched)``。``matched=False`` 表示这个写法在 ``robots[]`` 里
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查不到 —— 调用方必须**报错**（见 ``resolve_robot``），不能静默拿它当 SN，
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否则会去连一台不存在的机器人。
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"""
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w = (want or "").strip()
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if not w:
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return "", False
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index = _arm_index(data)
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hit = index.get(w.lower())
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if hit:
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return hit, True
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if _looks_like_full_sn(w):
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return w, True
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return w, False
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def describe_arms(data: dict) -> str:
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"""给报错信息用：列出本配置里可选的全部机械臂。"""
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lines = []
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for item in list_robots(data):
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sn = str(item.get("sn") or "").strip()
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if not sn:
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continue
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bits = [f" - {sn}"]
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arm = str(item.get("arm") or "").strip()
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label = str(item.get("label") or "").strip()
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if arm or label:
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bits.append(f"arm={arm or '?'}")
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if label:
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bits.append(f"label={label}")
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short = arm_short_id(sn)
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if short:
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bits.append(f"--arm {short}")
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lines.append(" ".join(bits))
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return "\n".join(lines) or " （robot.robots[] 是空的）"
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def _deep_merge(base: dict, overlay: dict) -> dict:
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out = dict(base)
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for k, v in overlay.items():
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if isinstance(out.get(k), dict) and isinstance(v, dict):
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out[k] = _deep_merge(out[k], v)
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else:
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out[k] = v
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return out
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def resolve_robot(data: dict, sn: str | None = None) -> dict:
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"""当前生效的机械臂：环境变量 ``ROBOT_SN`` 覆盖 robot.sn；清单补齐 ip/iface/frames。
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选不出来时**抛 ``ValueError``**，绝不猜：
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- 给了别名（``89`` / ``left``）但 ``robots[]`` 里没有对应的臂；
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- ``robot.sn`` 没写、也没给 ``--arm``。
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以前这两种情况会静默落回一个写死的 SN 或一个空的 ``sn``，结果就是
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"配置漏了一键，程序照样启动，连的是哪台看运气"。
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"""
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robot = dict(data.get("robot") or {})
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catalog = list_robots(data)
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raw = (
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sn
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or os.environ.get("ROBOT_SN")
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or os.environ.get("ROBOT_ARM")
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or robot.get("sn")
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or ""
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)
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want, matched = resolve_robot_sn(data, raw)
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if str(raw).strip() and not matched:
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raise ValueError(
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f"选不出机械臂：{str(raw).strip()!r} 既不是 robot.robots[] 里的别名，"
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f"也不像完整 SN（完整 SN 形如 Rizon4-063989）。\n"
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f"config/site.yaml 里现有：\n{describe_arms(data)}\n"
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f"用法：所有终端加同一个 --arm，或直接写完整 SN。"
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)
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if not want:
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raise ValueError(
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"config/site.yaml 没有指定机械臂：robot.sn 为空，也没给 --arm。\n"
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f"可选：\n{describe_arms(data)}"
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)
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match: dict = {}
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for item in catalog:
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if str(item.get("sn") or "").strip() == want:
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match = dict(item)
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break
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out = {k: v for k, v in robot.items() if k != "robots"}
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out.update({k: v for k, v in match.items() if k != "robots"})
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out["sn"] = want
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# 侧别只认 robots[].arm。**不要**从 SN 里猜数字（"063989 就是左臂"）——
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# 那是站点数据写进了代码，换个站点就会把左右搞反。
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if not str(out.get("joint_prefix") or "").strip():
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out["joint_prefix"] = f"{want}_"
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if not str(out.get("base_frame") or "").strip():
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out["base_frame"] = f"{want}_base_link"
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if not str(out.get("ee_frame") or "").strip():
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out["ee_frame"] = f"{want}_flange"
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net = data.get("network") or {}
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if not str(out.get("iface") or "").strip():
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out["iface"] = str(net.get("prefer_iface") or "")
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if not str(out.get("ip") or "").strip():
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out["ip"] = "192.168.100.1"
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if not str(out.get("pc_ip") or "").strip():
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out["pc_ip"] = "192.168.100.10"
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return out
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def apply_active_arm(data: dict, sn: str | None = None) -> tuple[dict, dict]:
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"""把 robots[] 里的 camera/gripper/paths/servo 合并到当前 SN 对应的 site 默认值上。"""
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robot = resolve_robot(data, sn)
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merged = dict(data)
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for key in _ARM_SECTION_KEYS:
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base = merged.get(key) if isinstance(merged.get(key), dict) else {}
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ov = robot.get(key) if isinstance(robot.get(key), dict) else {}
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merged[key] = _deep_merge(dict(base or {}), dict(ov or {}))
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return merged, robot
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def camera_ns(data: dict) -> str:
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"""当前腕部相机（d405_left / d405_right）的话题命名空间。"""
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cam = data.get("camera") or {}
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name = str(cam.get("name") or "d405").strip().strip("/")
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return name or "d405"
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def camera_frames(data: dict) -> tuple[str, str, str]:
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"""当前机械臂**腕部**相机的（命名空间, 光学坐标系, 深度话题）。
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一阶段跟踪用哪台相机见 ``track_camera_frames`` —— 不许改本函数去跟
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``perception.track_camera``：``SITE_CAM_NAME`` / 二阶段 / 入孔检测都走这里，
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切跟踪相机不该把精拍那路也切走。
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"""
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ns = camera_ns(data)
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yolo = data.get("yolo") or {}
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frame = str(yolo.get("camera_frame") or "").strip()
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depth = str(yolo.get("depth_topic") or "").strip()
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if frame in ("", "d405_color_optical_frame"):
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frame = f"{ns}_color_optical_frame"
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if depth in ("", "/d405/aligned_depth_to_color/image_raw"):
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depth = f"/{ns}/aligned_depth_to_color/image_raw"
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return ns, frame, depth
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#: 顶视跟踪必须自己写的深度量程。缺了就借腕部 0.55m 上限 = D435 的点全丢。
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_OVERHEAD_RANGE_REQUIRED = ("min_depth_m", "max_depth_m", "feature_min_range_m")
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#: D405 主跟踪切 D435 一次性时必须显式写的键。缺了就静默不切 = 臂停在半空。
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_ONESHOT_REQUIRED = (
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"oneshot_conf",
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"cooldown_s",
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"frame_max_age_s",
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"oneshot_hold_s",
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)
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def track_camera_frames(data: dict) -> tuple[str, str, str, str]:
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"""一阶段跟踪用的（命名空间, 光学坐标系, 深度话题, 手眼模式）。
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``perception.track_camera``：
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* ``wrist`` → 腕部相机 + ``eye_in_hand``
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* ``overhead`` → 手外相机 + ``eye_to_hand``
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"""
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data, robot = apply_active_arm(data)
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sio = _load_site_io()
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role = sio.track_camera_role(data)
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mode = sio.track_handeye_mode(role)
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if role == "overhead":
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over = overhead_camera(data, robot)
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ns = str(over.get("name") or "").strip("/")
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if not ns:
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raise RuntimeError(
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"perception.track_camera=overhead，但 cameras 里没有 "
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"role 以 overhead 开头的相机"
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)
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return ns, f"{ns}_color_optical_frame", f"/{ns}/aligned_depth_to_color/image_raw", mode
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ns, frame, depth = camera_frames(data)
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return ns, frame, depth, mode
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def _track_handeye_file(data: dict, robot: dict, mode: str) -> str:
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"""跟踪用的手眼文件。overhead 不许去读 ``paths.handeye_file``（那是腕部的）。"""
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if mode != "eye_to_hand":
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return str((data.get("paths") or {}).get("handeye_file") or "")
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over = overhead_camera(data, robot)
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cam = str(over.get("name") or "").strip("/")
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short = arm_short_id(str(robot.get("sn") or ""))
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name = _load_site_io().eye_to_hand_result_name(short, cam)
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return str(_root() / "handeye" / "results" / name)
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def _apply_overhead_range(data: dict, params: dict) -> None:
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"""把 ``perception.overhead`` 的深度量程盖到感知参数上。缺键就红。"""
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oh = (data.get("perception") or {}).get("overhead")
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if not isinstance(oh, dict):
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raise RuntimeError(
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"perception.track_camera=overhead 必须在 perception.overhead 写顶视"
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"深度量程（min_depth_m / max_depth_m / feature_min_range_m）。"
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"腕部那组 0.55m 上限会把 D435 的点全丢掉，看起来像检测失败。"
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)
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missing = [k for k in _OVERHEAD_RANGE_REQUIRED if k not in oh]
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if missing:
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raise RuntimeError(
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f"perception.overhead 缺 {missing} —— 不许借腕部量程。"
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)
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params["min_depth_m"] = float(oh["min_depth_m"])
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params["max_depth_m"] = float(oh["max_depth_m"])
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params["feature_min_range_m"] = float(oh["feature_min_range_m"])
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if "work_z_max_m" in oh:
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params["work_z_max_m"] = float(oh["work_z_max_m"])
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if "z_ref_m" in oh:
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params["z_ref_m"] = float(oh["z_ref_m"])
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if "feature_mode" in oh:
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params["feature_mode"] = str(oh["feature_mode"])
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if "hold_point_on_miss" in oh:
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params["hold_point_on_miss"] = bool(oh["hold_point_on_miss"])
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def _apply_wrist_hybrid(data: dict, robot: dict, params: dict) -> None:
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"""腕部主跟踪 + D435 一次性：参数接到感知节点，**不许盖掉腕部量程**。
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顶视量程写进 ``overhead_*`` 键。若直接复用 ``min_depth_m``，D405 会按
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0.25–1.80 m 收点，近处工件全丢，看起来像检测失败。
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"""
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perc = data.get("perception") or {}
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if "wrist_handoff_conf" not in perc:
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raise RuntimeError(
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"perception.track_camera=wrist 的混合跟踪必须写 "
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"perception.wrist_handoff_conf（画面内最高 conf 低于此才切 D435）。"
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"不许在代码里写死 0.5 再抄一份到 yaml。"
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)
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params["wrist_handoff_conf"] = float(perc["wrist_handoff_conf"])
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oh = perc.get("overhead")
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if not isinstance(oh, dict):
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raise RuntimeError(
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"wrist 混合跟踪必须在 perception.overhead 写顶视量程和一次性参数"
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"（min_depth_m / max_depth_m / feature_min_range_m / oneshot_conf / "
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"cooldown_s / frame_max_age_s / oneshot_hold_s）。"
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)
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missing = [k for k in _OVERHEAD_RANGE_REQUIRED if k not in oh]
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if missing:
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raise RuntimeError(
|
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f"perception.overhead 缺 {missing} —— 不许借腕部量程做 D435 一次性。"
|
||
)
|
||
miss2 = [k for k in _ONESHOT_REQUIRED if k not in oh]
|
||
if miss2:
|
||
raise RuntimeError(f"perception.overhead 缺一次性键 {miss2} —— 不许用代码默认值。")
|
||
over = overhead_camera(data, robot)
|
||
ns = str(over.get("name") or "").strip("/")
|
||
if not ns:
|
||
raise RuntimeError(
|
||
"wrist 混合跟踪需要 cameras 里 role 以 overhead 开头的相机"
|
||
)
|
||
e2h = _track_handeye_file(data, robot, "eye_to_hand")
|
||
params["overhead_oneshot_enable"] = True
|
||
params["overhead_min_depth_m"] = float(oh["min_depth_m"])
|
||
params["overhead_max_depth_m"] = float(oh["max_depth_m"])
|
||
params["overhead_feature_min_range_m"] = float(oh["feature_min_range_m"])
|
||
params["overhead_oneshot_conf"] = float(oh["oneshot_conf"])
|
||
params["overhead_cooldown_s"] = float(oh["cooldown_s"])
|
||
params["overhead_frame_max_age_s"] = float(oh["frame_max_age_s"])
|
||
params["overhead_hold_s"] = float(oh["oneshot_hold_s"])
|
||
params["overhead_handeye_file"] = e2h
|
||
params["overhead_camera_source"] = ns
|
||
params["overhead_camera_frame"] = f"{ns}_color_optical_frame"
|
||
params["overhead_image_topic"] = f"/{ns}/color/image_raw"
|
||
params["overhead_info_topic"] = f"/{ns}/color/camera_info"
|
||
params["overhead_depth_topic"] = f"/{ns}/aligned_depth_to_color/image_raw"
|
||
|
||
|
||
#: 手眼标定的两种装法。写在这里当"合法值清单"，避免各处各写一遍字符串。
|
||
HANDEYE_MODES = ("eye_in_hand", "eye_to_hand")
|
||
|
||
|
||
def handeye_board(he: dict, mode: str) -> tuple[dict, str]:
|
||
"""取某个模式用的标定板尺寸 → ``({cols, rows, square_size_m}, 来源)``。
|
||
|
||
权威只有一处：``handeye.boards.<mode>``。为什么按模式分开——两种装法用的是
|
||
**两块不同的物理板**（本项目：眼在手上 A5 / 眼在手外 A4），方格边长不一样。
|
||
合成一组键的后果不是报错，而是"跑另一种模式时静默用错边长"，结果只是系统性偏，
|
||
现场几乎联想不到板尺寸。
|
||
|
||
兼容：没有 ``boards`` 段时，回落到旧的顶层 ``board_cols/rows/square_size_m``。
|
||
返回的第二个值是来源（``boards`` / ``legacy`` / ``default``），调用方据此决定
|
||
要不要拦下——``default`` 意味着**没人配过这块板**，此时开标定等于赌一个尺寸。
|
||
"""
|
||
boards = he.get("boards") if isinstance(he.get("boards"), dict) else {}
|
||
node = boards.get(mode) if isinstance(boards, dict) else None
|
||
src = "boards"
|
||
if not isinstance(node, dict):
|
||
node = he
|
||
src = "legacy"
|
||
if mode not in HANDEYE_MODES:
|
||
# 不认识的模式：不猜板子，交给调用方报错（猜错就是静默用错尺寸）。
|
||
node, src = {}, "default"
|
||
|
||
def pick(key: str, cast, default):
|
||
v = node.get(key) if isinstance(node, dict) else None
|
||
if v is None:
|
||
return default, False
|
||
try:
|
||
return cast(v), True
|
||
except (TypeError, ValueError):
|
||
return default, False
|
||
|
||
# boards 段用 cols/rows；旧的顶层键是 board_cols/board_rows。两种都认，
|
||
# 免得"兼容旧配置"其实读不到旧键，悄悄退回默认 8×11。
|
||
cols, ok_c = pick("cols", int, 8)
|
||
if not ok_c:
|
||
cols, ok_c = pick("board_cols", int, 8)
|
||
rows, ok_r = pick("rows", int, 11)
|
||
if not ok_r:
|
||
rows, ok_r = pick("board_rows", int, 11)
|
||
sq, ok_s = pick("square_size_m", float, 0.015)
|
||
if src == "legacy" and not (ok_c or ok_r or ok_s):
|
||
# 顶层键一个都没有 ⇒ 真的没人配过，不要把"内置默认值"伪装成"配置"。
|
||
src = "default"
|
||
return {"cols": cols, "rows": rows, "square_size_m": sq}, src
|
||
|
||
|
||
def overhead_camera(data: dict, robot: dict | None = None) -> dict:
|
||
"""手外（固定）相机：``cameras.*`` 里 ``role`` 以 ``overhead`` 开头的那台。
|
||
|
||
**规则只有一份**，在 ``arm_application.site_io.overhead_camera``——S03 粗定位
|
||
取命名空间走的也是它。这里若自己再写一遍"按 role 找 + 按 arm 收敛"，两份判据
|
||
必然漂移，症状是"标定用的相机"和"推理用的相机"不是同一台，且错而不报。
|
||
所以这里只做一层薄封装（从源码树 import），拿到配置字典。
|
||
"""
|
||
fn = _load_overhead_camera_fn()
|
||
cam, _others = fn(data, robot)
|
||
return cam
|
||
|
||
|
||
def _load_site_io():
|
||
"""从 ``src/arm_application`` 取 ``site_io`` 模块。
|
||
|
||
为什么从源码树而不是已安装包：``export_site_env.py`` 在 ``colcon build``
|
||
之前就被调用（``load_site_config.sh`` 的第一件事），那时 install 里可能还没有
|
||
这个包。源码树在本仓库里恒定存在（``scripts/`` 与 ``src/`` 同根）。
|
||
"""
|
||
src = _root() / "src" / "arm_application"
|
||
if not (src / "arm_application" / "site_io.py").is_file():
|
||
raise RuntimeError(
|
||
f"找不到 {src}/arm_application/site_io.py —— 手外相机 / 结果文件名的规则"
|
||
"只有那一处，不接受本文件自己再实现一份（两份判据必然漂移）。"
|
||
)
|
||
if str(src) not in sys.path:
|
||
sys.path.insert(0, str(src))
|
||
from arm_application import site_io as _mod # noqa: PLC0415
|
||
|
||
return _mod
|
||
|
||
|
||
def _load_overhead_camera_fn():
|
||
return _load_site_io().overhead_camera
|
||
|
||
|
||
def flatten(data: dict) -> dict:
|
||
"""供 bash 脚本使用的扁平 ``SITE_*`` 环境变量映射。"""
|
||
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 "")
|
||
# 解析符号链接，方便日志里看到真实文件（历史上有人用 active.pt 做切换，已废弃）
|
||
try:
|
||
weights_resolved = str(Path(weights).expanduser().resolve())
|
||
except Exception:
|
||
weights_resolved = weights
|
||
|
||
# 派生文件名的口径：臂号 = 当前 SN 末两位（见 arm_short_id）。
|
||
# 用当前臂现算，**不要**钉死 "89" —— 否则换成 91 或另一台臂时，
|
||
# 两边会共用同一个手眼文件，表现是"标定做了但不生效"。
|
||
short = arm_short_id(str(robot.get("sn") or ""))
|
||
he_mode = str(he.get("mode") or "eye_in_hand")
|
||
over = overhead_camera(data, robot)
|
||
over_name = str(over.get("name") or "").strip("/")
|
||
root = _root()
|
||
|
||
# 手眼标定的"按模式"派生物：结果文件 / 示教点 / 标定板。
|
||
#
|
||
# 为什么一切都要按模式分开（eye_in_hand / eye_to_hand）：
|
||
# 1) 结果文件：眼在手外的产物是"**这台相机的光心 → 这条臂的基座**"，换条臂
|
||
# （基座不同）或换台相机都不通用 ⇒ 名字要同时带臂号与相机名
|
||
# （<臂号>_<相机>_eye_to_hand）。曾经只有 <臂号>_<模式>，于是一个双臂共用
|
||
# 的手外相机只能存一份外参，第二条臂拿到的必然错；
|
||
# 2) 标定板：两种装法用两块不同的物理板（A5 / A4），方格边长不同 ⇒ 见
|
||
# handeye_board() 的说明；
|
||
# 3) 示教点：两种模式采的关节角完全不同，共用一份会把上一模式的点位当成本
|
||
# 模式的（merge 之后才发现在动错的姿态）。
|
||
he_modes_out: dict[str, str] = {}
|
||
_e2h_name = _load_site_io().eye_to_hand_result_name
|
||
for _m in HANDEYE_MODES:
|
||
_tag = _m.upper()
|
||
_pose_stem = f"{short}_{_m}" if short else _m
|
||
# 结果文件名：眼在手外走 site_io.eye_to_hand_result_name（唯一口径）；
|
||
# 眼在手上仍是 <臂号>_eye_in_hand.yaml。
|
||
if _m == "eye_to_hand":
|
||
_result_name = _e2h_name(short, over_name)
|
||
else:
|
||
_result_name = f"{_pose_stem}.yaml"
|
||
# eye_to_hand 允许用显式路径覆盖（与 eye_in_hand 的 paths.handeye_file 对称）；
|
||
# 不写就用派生的名字。
|
||
if _m == "eye_in_hand":
|
||
_file = str(
|
||
paths.get("handeye_file")
|
||
or root / "handeye" / "results" / _result_name
|
||
)
|
||
_wps = str(
|
||
paths.get("handeye_waypoints")
|
||
or root / "handeye" / "poses" / f"{_pose_stem}.yaml"
|
||
)
|
||
else:
|
||
_file = str(
|
||
paths.get(f"handeye_file_{_m}")
|
||
or root / "handeye" / "results" / _result_name
|
||
)
|
||
_wps = str(
|
||
paths.get(f"handeye_waypoints_{_m}")
|
||
or root / "handeye" / "poses" / f"{_pose_stem}.yaml"
|
||
)
|
||
_board, _src = handeye_board(he, _m)
|
||
he_modes_out[f"SITE_HANDEYE_FILE_{_tag}"] = _file
|
||
he_modes_out[f"SITE_HANDEYE_WAYPOINTS_{_tag}"] = _wps
|
||
he_modes_out[f"SITE_HANDEYE_BOARD_COLS_{_tag}"] = str(_board["cols"])
|
||
he_modes_out[f"SITE_HANDEYE_BOARD_ROWS_{_tag}"] = str(_board["rows"])
|
||
he_modes_out[f"SITE_HANDEYE_SQUARE_{_tag}"] = str(_board["square_size_m"])
|
||
he_modes_out[f"SITE_HANDEYE_BOARD_SRC_{_tag}"] = _src
|
||
|
||
out = {
|
||
"SITE_CONFIG": str(site_path()),
|
||
"SITE_ROS2_ROOT": str(_root()),
|
||
# 必须来自配置。缺了就留空让调用方报错 —— 兜底成某个真实 SN
|
||
# 等于"配置漏了照样启动，连的是哪台看运气"。
|
||
"SITE_ROBOT_SN": str(robot.get("sn") or ""),
|
||
"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_ROBOT_SHORT_ID": short,
|
||
# 本臂有没有装 Orisys 触觉。以前脚本靠 `SN == Rizon4-063989` 来判断，
|
||
# 于是"哪台臂有传感器"变成了代码里的常量。现在由 site.yaml 说了算。
|
||
"SITE_ROBOT_HAS_TACTILE": "1" if robot.get("tactile") else "0",
|
||
"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": he_modes_out["SITE_HANDEYE_WAYPOINTS_EYE_IN_HAND"],
|
||
"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 str(_root() / "handeye" / "tmp" / short)
|
||
),
|
||
# 不带后缀的两个名字保持旧语义（= 腕部 eye-in-hand 的产物），因为
|
||
# launch / 其它脚本一直按这两个名字读；换成"当前模式"会让 site.yaml 里
|
||
# 一改 handeye.mode 就把 S05 精拍定位的 TF 换掉，那是另一个功能的静默失效。
|
||
# 两个模式各自的名字在 *_EYE_IN_HAND / *_EYE_TO_HAND 里。
|
||
"SITE_HANDEYE_FILE": he_modes_out["SITE_HANDEYE_FILE_EYE_IN_HAND"],
|
||
"SITE_HANDEYE_MODE": he_mode,
|
||
**he_modes_out,
|
||
# 不带后缀的板尺寸 = **当前模式**那一组，供 `show` 之类只看当前模式的调用方；
|
||
# 标定脚本用带后缀的那三组（按 --mode 选），不依赖这个。
|
||
"SITE_HANDEYE_BOARD_COLS": he_modes_out[
|
||
f"SITE_HANDEYE_BOARD_COLS_{he_mode.upper()}"
|
||
],
|
||
"SITE_HANDEYE_BOARD_ROWS": he_modes_out[
|
||
f"SITE_HANDEYE_BOARD_ROWS_{he_mode.upper()}"
|
||
],
|
||
"SITE_HANDEYE_SQUARE_M": he_modes_out[
|
||
f"SITE_HANDEYE_SQUARE_{he_mode.upper()}"
|
||
],
|
||
"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)),
|
||
# 手外（固定）相机的**按角色**导出。eye-to-hand 标定要用它：标定时得订阅
|
||
# 这台固定相机，而不是腕部相机（run_handeye.sh 原来恒用 SITE_CAM_NAME，
|
||
# 于是 `--mode eye_to_hand` 会去开腕部相机 —— 标出一个"看着成功"的错结果）。
|
||
"SITE_OVERHEAD_CAM_NAME": over_name,
|
||
"SITE_OVERHEAD_CAM_SERIAL": str(over.get("serial") or ""),
|
||
"SITE_OVERHEAD_CAM_WIDTH": str(int(over.get("width") or 1280)),
|
||
"SITE_OVERHEAD_CAM_HEIGHT": str(int(over.get("height") or 720)),
|
||
"SITE_OVERHEAD_CAM_FPS": str(int(over.get("fps") or 30)),
|
||
"SITE_OVERHEAD_CAM_AUTO_EXPOSURE": "1" if over.get("auto_exposure", True) else "0",
|
||
"SITE_OVERHEAD_CAM_AE_LIMIT_US": str(
|
||
float(over.get("ae_limit_us") if over.get("ae_limit_us") is not None else 8000)
|
||
),
|
||
"SITE_OVERHEAD_CAM_EMITTER": "1" if over.get("emitter_enabled", True) else "0",
|
||
"SITE_OVERHEAD_CAM_EXPOSURE_US": str(float(over.get("exposure_us") or 0)),
|
||
"SITE_OVERHEAD_CAM_GAIN": str(float(over.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)),
|
||
# 序列号**不给默认值**：兜底成某个真实序列号 = 换站点后悄悄打开别人的相机。
|
||
# 缺了就让相机节点以"序列号为空"报错，比连错设备好得多（M1）。
|
||
"SITE_D405_LEFT_SERIAL": str(((data.get("cameras") or {}).get("d405_left") or {}).get("serial") or ""),
|
||
"SITE_D405_RIGHT_SERIAL": str(((data.get("cameras") or {}).get("d405_right") or {}).get("serial") or ""),
|
||
"SITE_YOLO_CONF": str(yolo.get("conf") or 0.10),
|
||
"SITE_YOLO_IMGSZ": str(int(yolo.get("imgsz") or 640)),
|
||
"SITE_YOLO_DEVICE": str(yolo.get("device") or "0"),
|
||
"SITE_YOLO_MIN_CONF": str(yolo.get("min_conf") or 0.12),
|
||
"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],
|
||
# 一阶段跟踪用的相机/手眼（可与腕部精拍不同）。SITE_CAM_NAME 仍是腕部。
|
||
"SITE_TRACK_CAMERA": _load_site_io().track_camera_role(data),
|
||
"SITE_TRACK_CAM_NAME": track_camera_frames(data)[0],
|
||
"SITE_TRACK_CAMERA_FRAME": track_camera_frames(data)[1],
|
||
"SITE_TRACK_HANDEYE_MODE": track_camera_frames(data)[3],
|
||
"SITE_TRACK_HANDEYE_FILE": _track_handeye_file(
|
||
data, robot, track_camera_frames(data)[3]
|
||
),
|
||
"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" / "detect_best_1.onnx")
|
||
),
|
||
"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:
|
||
"""供 dh_pgea_node 使用的 ROS 参数字典（DH Modbus，不是 Flexiv 夹爪）。"""
|
||
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:
|
||
"""供 perception_node 使用的 ROS 参数字典。"""
|
||
data, _robot = apply_active_arm(data)
|
||
paths = data.get("paths") or {}
|
||
yolo = data.get("yolo") or {}
|
||
cam_ns, cam_frame, depth_topic, _he_mode = track_camera_frames(data)
|
||
obj = str(yolo.get("object_frame") or "").strip()
|
||
if not obj or obj == "tracked_object":
|
||
# 跟踪目标的坐标系按**臂号**派生（SN 末两位），两侧互不干扰。
|
||
# 以前是从 SN 里找 "063989"/"063991" 子串，换个站点就失去意义了。
|
||
short = arm_short_id(str((_robot or {}).get("sn") or ""))
|
||
obj = f"tracked_object_{short}" if short else "tracked_object"
|
||
out = {
|
||
"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 640),
|
||
"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,
|
||
"base_frame": str((_robot or {}).get("base_frame") or ""),
|
||
"feature_mode": str(yolo.get("feature_mode") or "plane"),
|
||
# feature_mode=keypoint 时用：哪个关键点当跟踪点（k0）、可信度门槛。
|
||
"keypoint_index": int(yolo.get("keypoint_index") if yolo.get("keypoint_index") is not None else 0),
|
||
"keypoint_min_conf": float(yolo.get("keypoint_min_conf") or 0.30),
|
||
"keypoint_win_px": int(yolo.get("keypoint_win_px") if yolo.get("keypoint_win_px") is not None else 6),
|
||
# 三条关键点量纲守卫（2026-10-08 真机一阶段被假 k0 带走，见
|
||
# feature_guard.py 的注释）。**必须在这里透传**：节点里声明的默认值
|
||
# 恰好等于 site.yaml 当前值，漏了不会报错，只会让以后改配置毫无反应
|
||
# （R1.1 的"声明了却没接线"）。
|
||
"keypoint_border_px": float(yolo.get("keypoint_border_px") if yolo.get("keypoint_border_px") is not None else 6.0),
|
||
"track_max_step_m": float(yolo.get("track_max_step_m") if yolo.get("track_max_step_m") is not None else 0.04),
|
||
"reacquire_far_px": float(yolo.get("reacquire_far_px") if yolo.get("reacquire_far_px") is not None else 120.0),
|
||
"reacquire_confirm_frames": int(yolo.get("reacquire_confirm_frames") if yolo.get("reacquire_confirm_frames") is not None else 3),
|
||
"plane_inlier_m": float(yolo.get("plane_inlier_m") or 0.008),
|
||
"plane_band_m": float(yolo.get("plane_band_m") or 0.06),
|
||
}
|
||
sio = _load_site_io()
|
||
role = sio.track_camera_role(data)
|
||
perc = data.get("perception") or {}
|
||
if role == "overhead":
|
||
_apply_overhead_range(data, out)
|
||
out["overhead_oneshot_enable"] = False
|
||
elif perc.get("track_camera") or "wrist_handoff_conf" in perc:
|
||
# 显式 wrist / 写了混合键 → 必须接全套。缺键就红，不许用代码默认。
|
||
# 没写 perception 段的探针测试保持旧行为（不加一次性）。
|
||
_apply_wrist_hybrid(data, _robot, out)
|
||
else:
|
||
out["overhead_oneshot_enable"] = False
|
||
return out
|
||
|
||
|
||
def servo_overrides(data: dict) -> dict:
|
||
"""供 servo_node 使用的 ROS 参数字典。"""
|
||
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, he_mode = track_camera_frames(data)
|
||
he_file = _track_handeye_file(data, robot, he_mode)
|
||
xy_track = str(servo.get("xy_track") or "hover").strip().lower()
|
||
if he_mode == "eye_to_hand" and xy_track == "lookat":
|
||
raise RuntimeError(
|
||
"perception.track_camera=overhead 时相机固定，lookat（把目标对准画面中心）"
|
||
"没有意义。site.yaml 的 servo.xy_track 必须是 hover。"
|
||
)
|
||
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": he_file,
|
||
"handeye_mode": he_mode,
|
||
"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),
|
||
}
|
||
# 透传其余与节点参数同名的 servo 键
|
||
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", "jump_confirm_frames", "feat_ws_margin_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",
|
||
# 远处限速（见 _slow_xy_limit）：漏了这两个键，site.yaml 改了也不生效，
|
||
# 节点会静默退回声明默认值（R1.1）。
|
||
"slow_far_m", "v_slow_xy",
|
||
"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",
|
||
"lock_still_sec",
|
||
"lock_still_move_m",
|
||
"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]
|
||
sio = _load_site_io()
|
||
perc = data.get("perception") or {}
|
||
if sio.track_camera_role(data) == "wrist" and (
|
||
perc.get("track_camera") or "wrist_handoff_conf" in perc
|
||
):
|
||
if "wrist_handoff_conf" not in perc:
|
||
raise RuntimeError(
|
||
"servo 混合跟踪必须读 perception.wrist_handoff_conf "
|
||
"（与感知同一门槛，不许两边各写一个数）。"
|
||
)
|
||
out["wrist_handoff_conf"] = float(perc["wrist_handoff_conf"])
|
||
oh = perc.get("overhead") if isinstance(perc.get("overhead"), dict) else {}
|
||
if "oneshot_hold_s" not in oh:
|
||
raise RuntimeError(
|
||
"servo 混合跟踪必须写 perception.overhead.oneshot_hold_s "
|
||
"（D435 一次性设定保持多久）。"
|
||
)
|
||
out["overhead_hold_s"] = float(oh["oneshot_hold_s"])
|
||
if "lock_still_sec" not in servo:
|
||
raise RuntimeError(
|
||
"servo.lock_still_sec 必须显式写"
|
||
"（D405 跟住后法兰静止多久才进二阶段）。不许用代码默认 3。"
|
||
)
|
||
if "lock_still_move_m" not in servo:
|
||
raise RuntimeError(
|
||
"servo.lock_still_move_m 必须显式写"
|
||
"（静止判据的法兰 XY 位移上限）。不许用代码默认 15mm。"
|
||
)
|
||
out["lock_still_sec"] = float(servo["lock_still_sec"])
|
||
out["lock_still_move_m"] = float(servo["lock_still_move_m"])
|
||
out["overhead_k0_topic"] = "visual_servo/overhead_k0"
|
||
out["wrist_conf_topic"] = "visual_servo/wrist_conf"
|
||
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|完整 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)
|
||
try:
|
||
flat = flatten(data)
|
||
except ValueError as exc:
|
||
# 调用方是 `eval "$(python3 export_site_env.py)"`，抛栈对使用者毫无意义，
|
||
# 而且 eval 拿到空字符串后 SITE_* 全是空的，真正失败的地方会离这里很远。
|
||
# 所以这里必须打印一句人能看懂的原因并明确非零退出。
|
||
print(f"错误：{exc}", file=sys.stderr)
|
||
return 2
|
||
if args.json:
|
||
print(json.dumps({"site": data, "env": flat}, ensure_ascii=False, indent=2))
|
||
return 0
|
||
if args.do_print:
|
||
print(f"site 配置: {path}")
|
||
print(
|
||
f" 机械臂 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" 清单 : {flat.get('SITE_ROBOT_CATALOG') or '（无）'}")
|
||
print(f" 机械臂 IP : {flat['SITE_ROBOT_IP']} pc={flat['SITE_PC_IP']} iface={flat.get('SITE_NET_IFACE') or '?'}")
|
||
print(f" 坐标系 : prefix={flat['SITE_JOINT_PREFIX']} ee={flat['SITE_EE_FRAME']}")
|
||
print(f" 工具名 : {flat.get('SITE_ROBOT_TOOL_NAME') or '（保持当前）'}")
|
||
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" 警告：robot.sn {flat['SITE_ROBOT_SN']!r} 不在 robots[] 里",
|
||
file=sys.stderr,
|
||
)
|
||
print(f" YOLO 权重 : {flat['SITE_YOLO_WEIGHTS']}")
|
||
print(f" 解析后 : {flat['SITE_YOLO_WEIGHTS_RESOLVED']}")
|
||
print(f" 手眼 : {flat['SITE_HANDEYE_FILE']}")
|
||
print(f" 手眼路点 : {flat['SITE_HANDEYE_WAYPOINTS']}")
|
||
print(f" 手眼目录 : {flat['SITE_HANDEYE_WORKDIR']}")
|
||
print(f" 命名位姿 : {flat.get('SITE_NAMED_POSES_FILE')}")
|
||
print(f" 眼在手外结果 : {flat['SITE_HANDEYE_FILE_EYE_TO_HAND']}")
|
||
print(f" 眼在手外路点 : {flat['SITE_HANDEYE_WAYPOINTS_EYE_TO_HAND']}")
|
||
for _m in ("eye_in_hand", "eye_to_hand"):
|
||
_t = _m.upper()
|
||
_src = flat.get(f"SITE_HANDEYE_BOARD_SRC_{_t}")
|
||
print(
|
||
f" 标定板[{_m:12s}]: "
|
||
f"{flat.get(f'SITE_HANDEYE_BOARD_COLS_{_t}')}x"
|
||
f"{flat.get(f'SITE_HANDEYE_BOARD_ROWS_{_t}')} 内角点, "
|
||
f"square={flat.get(f'SITE_HANDEYE_SQUARE_{_t}')} m"
|
||
+ (" ← 没配过（标定会被拦下）" if _src == "default" else "")
|
||
)
|
||
print(
|
||
f" 手外相机 : {flat.get('SITE_OVERHEAD_CAM_NAME') or '（未登记）'} "
|
||
f"serial={flat.get('SITE_OVERHEAD_CAM_SERIAL') or '（空）'}"
|
||
)
|
||
print(
|
||
f" 相机 : serial={flat['SITE_CAM_SERIAL'] or '（空）'} "
|
||
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" 清单相机 : leftD405={flat.get('SITE_D405_LEFT_SERIAL')} "
|
||
f"rightD405={flat.get('SITE_D405_RIGHT_SERIAL')} "
|
||
f"D435={flat.get('SITE_D435_SERIAL')}"
|
||
)
|
||
print(
|
||
f" 夹爪 : {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" 触觉 : 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" 警告：手眼文件缺失: {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
|
||
):
|
||
arm_hint = flat.get("SITE_ROBOT_SHORT_ID") or flat.get("SITE_ROBOT_ARM") or "?"
|
||
print(
|
||
f" 警告：{he_path.name} 没有针对该机械臂标定 "
|
||
f"(run_handeye.sh teach/calibrate --arm {arm_hint})",
|
||
file=sys.stderr,
|
||
)
|
||
# 右臂不该用左腕 D405 的序列号 —— 判据是**侧别**，不是 SN 里的数字。
|
||
# （两台臂的相机装反了不会报错，只会"跟踪一直差几厘米"。）
|
||
if (
|
||
flat.get("SITE_ROBOT_ARM") == "right"
|
||
and flat.get("SITE_CAM_SERIAL")
|
||
and flat.get("SITE_CAM_SERIAL") == flat.get("SITE_D405_LEFT_SERIAL")
|
||
):
|
||
print(
|
||
" 警告：右臂用的是左腕 D405 的序列号 — 请检查 robots[].camera.serial",
|
||
file=sys.stderr,
|
||
)
|
||
if "RGI" in str(flat.get("SITE_GRIP_MODEL") or ""):
|
||
arm_hint = flat.get("SITE_ROBOT_SHORT_ID") or flat.get("SITE_ROBOT_ARM") or "?"
|
||
print(
|
||
f" 提示：本臂是 RGI。CLI: bash ~/ros2/scripts/run_gripper.sh --arm {arm_hint} --cli open|rotate",
|
||
file=sys.stderr,
|
||
)
|
||
w = Path(flat["SITE_YOLO_WEIGHTS"]).expanduser()
|
||
if not w.is_file():
|
||
print(f" 警告：权重文件缺失: {w}", file=sys.stderr)
|
||
return 2
|
||
return 0
|
||
# bash 导出
|
||
for k, v in flat.items():
|
||
# 为 eval 转义
|
||
vv = str(v).replace("'", "'\"'\"'")
|
||
print(f"export {k}='{vv}'")
|
||
return 0
|
||
|
||
|
||
if __name__ == "__main__":
|
||
raise SystemExit(main())
|