arm_dev
72353f3773
背景：现场读代码的人只读中文。此前代码里的 docstring 是英文、行内注释是中文，
一半英文一半中文反而更难看懂 —— 新手打开一个 .py 不知道这个模块为什么存在。
范围（本仓库自己的代码，厂商上游不动）
src/arm_application/** 37 个文件：servo_node / perception_node / handeye_* / dh_pgea /
yolo_detector / kalman_filter / goto_ee_plane / dual_gripper …
src/arm_interfaces/** 11 个文件：paths / manifest / loader / config_guard / errors …
src/arm_control/** 5 个文件
src/arm_bringup/** 3 个 launch
scripts/** 6 个 .py + 29 个 .sh（scripts/ 是"唯一操作入口"，用户屏幕上
看到的就是这些提示，所以提示信息也一并中文化）
config/ handeye/ devices/ src/arm_*/config/ 17 个 .yaml/.xml/.xacro/.cfg
口径（写进 docs/FRAMEWORK_RULES.md 新增的 R6.5，作为长期约束）
注释、docstring、print/日志/异常里给人看的句子 = 中文；
标识符、API 名、话题名、参数名、字段名、命令名 = 保留英文原文（用 `` `` 包起来）；
单位、十六进制、协议报文、CRC 值、命令示例 = 原样保留；
src/flexiv_*/ = 厂商上游代码，不许改也不许翻译（R4.4）。
翻译保原意与原有详细程度：那些"为什么不能用另一种做法""踩过什么坑"的说明
全部完整保留 —— 它们才是这份代码里最贵的部分。
新增 scripts/check_text_only.py：只改文字时的自证工具
人工 review 靠不住（115 个文件、3000 多行 diff）。这个脚本把改动前后的源码解析成
语法树，删掉 docstring、抹平字符串常量、把 f-string 只留"插值了几次 + 插值是什么"，
再比对：完全相同 = 改动范围内没有逻辑变化。
留了一个口子：f-string 的插值按内容排序后再比 —— 因为中文语序常常要和英文反着来
（f"on {port} read {idx} failed" → f"在 {port} 上读 {idx} 失败"），只换显示顺序不该判失败；
但多插一个、少插一个、换掉被插入的表达式，立刻会报出来。
本次 66 个 .py 全部通过该闸门。
验收
改动的 66 个 .py：scripts/check_text_only.py 全部通过（零逻辑变化）
45 个非 .py 文件：去注释后与 HEAD 逐字节相同（零配置变化）
docstring 总数：没有一个文件减少（不存在"翻译时顺手删了说明"）
单测：arm_application 233 / arm_driver_flexiv 69 / arm_interfaces 46 /
arm_kinematics 24 / arm_sim_gazebo 236 = 608 passed，与改动前一致
全部 .sh：bash -n 通过；并额外实际执行了 --help 验证（见下一个提交：
bash -n 对 CRLF 脚本会漏报，只有真跑才暴露）
Co-authored-by: Cursor <cursoragent@cursor.com>
568 lines
26 KiB
Python
568 lines
26 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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# --arm 89|91|left|right 与 SN 别名。禁止把 89 的手眼/相机套到 91。
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_ARM_ALIASES = {
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"89": "Rizon4-063989",
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"left": "Rizon4-063989",
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"左": "Rizon4-063989",
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"左臂": "Rizon4-063989",
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"左臂89": "Rizon4-063989",
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"91": "Rizon4-063991",
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"right": "Rizon4-063991",
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"右": "Rizon4-063991",
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"右臂": "Rizon4-063991",
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"右臂91": "Rizon4-063991",
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}
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_ARM_SECTION_KEYS = ("camera", "gripper", "paths", "servo", "handeye", "go_home", "yolo")
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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 normalize_robot_sn(data: dict, want: str) -> str:
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"""把 89/91/left/right/label 映射成完整的 Flexiv SN。"""
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w = (want or "").strip()
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if not w:
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return w
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mapped = _ARM_ALIASES.get(w) or _ARM_ALIASES.get(w.lower())
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if mapped:
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return mapped
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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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label = str(item.get("label") or "").strip()
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arm = str(item.get("arm") or "").strip().lower()
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if w == sn or w == label or w.lower() == arm:
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return sn
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if sn.endswith(w) and w.isdigit() and len(w) >= 2:
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return sn
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return w
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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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robot = dict(data.get("robot") or {})
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catalog = list_robots(data)
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want = normalize_robot_sn(
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data,
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sn or os.environ.get("ROBOT_SN") or os.environ.get("ROBOT_ARM") or robot.get("sn") or "",
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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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if not str(out.get("arm") or "").strip():
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if "063989" in want:
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out["arm"] = "left"
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elif "063991" in want:
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out["arm"] = "right"
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if not str(out.get("joint_prefix") or "").strip() and want:
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out["joint_prefix"] = f"{want}_"
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if not str(out.get("base_frame") or "").strip() and want:
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out["base_frame"] = f"{want}_base_link"
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if not str(out.get("ee_frame") or "").strip() and want:
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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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"""当前机械臂的（命名空间, 光学坐标系, 深度话题）。"""
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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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def flatten(data: dict) -> dict:
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"""供 bash 脚本使用的扁平 ``SITE_*`` 环境变量映射。"""
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data, robot = apply_active_arm(data)
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paths = data.get("paths") or {}
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cam = data.get("camera") or {}
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yolo = data.get("yolo") or {}
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servo = data.get("servo") or {}
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home = data.get("go_home") or {}
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net = data.get("network") or {}
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he = data.get("handeye") or {}
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grip = data.get("gripper") or {}
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named_poses = str(
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robot.get("named_poses_file")
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or paths.get("named_poses_file")
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or str(_root() / "src" / "arm_control" / "config" / "named_poses.yaml")
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)
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weights = str(paths.get("yolo_weights") or "")
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# 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）
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try:
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weights_resolved = str(Path(weights).expanduser().resolve())
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except Exception:
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weights_resolved = weights
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out = {
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"SITE_CONFIG": str(site_path()),
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"SITE_ROS2_ROOT": str(_root()),
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"SITE_ROBOT_SN": str(robot.get("sn") or "Rizon4-063989"),
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"SITE_ROBOT_IP": str(robot.get("ip") or "192.168.100.1"),
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"SITE_PC_IP": str(robot.get("pc_ip") or "192.168.100.10"),
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"SITE_JOINT_PREFIX": str(robot.get("joint_prefix") or ""),
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"SITE_BASE_FRAME": str(robot.get("base_frame") or ""),
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"SITE_EE_FRAME": str(robot.get("ee_frame") or ""),
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"SITE_ROBOT_TOOL_NAME": str(robot.get("tool_name") or ""),
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"SITE_ROBOT_LABEL": str(robot.get("label") or ""),
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"SITE_ROBOT_ARM": str(robot.get("arm") or ""),
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"SITE_NAMED_POSES_FILE": named_poses,
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"SITE_ROBOT_CATALOG": ",".join(
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str(r.get("sn") or "") for r in list_robots(data) if r.get("sn")
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),
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"SITE_YOLO_WEIGHTS": weights,
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"SITE_YOLO_WEIGHTS_RESOLVED": weights_resolved,
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"SITE_HANDEYE_WAYPOINTS": str(
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paths.get("handeye_waypoints")
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or str(_root() / "handeye" / "poses" / "89_eye_in_hand.yaml")
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),
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"SITE_HANDEYE_CALIBRATE": str(
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paths.get("handeye_calibrate")
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or str(_root() / "handeye" / "calibrate.yaml")
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),
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"SITE_HANDEYE_TOUR": str(
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paths.get("handeye_tour")
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or str(_root() / "handeye" / "waypoints.yaml")
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),
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"SITE_HANDEYE_WORKDIR": str(
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paths.get("handeye_workdir") or str(_root() / "handeye" / "tmp")
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),
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"SITE_HANDEYE_FILE": str(
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paths.get("handeye_file")
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or str(_root() / "handeye" / "results" / "89_eye_in_hand.yaml")
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),
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"SITE_HANDEYE_MODE": str(he.get("mode") or "eye_in_hand"),
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# 板尺寸默认值必须与 site.yaml / 结果文件头里的实际板子一致。
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# 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
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# 8/11/0.015 冲突：一旦 site.yaml 缺这几个键就会静默用错尺寸，
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# 表现为"标定能跑完但结果明显不对"。
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"SITE_HANDEYE_BOARD_COLS": str(int(he.get("board_cols") or 8)),
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"SITE_HANDEYE_BOARD_ROWS": str(int(he.get("board_rows") or 11)),
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"SITE_HANDEYE_SQUARE_M": str(float(he.get("square_size_m") or 0.015)),
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"SITE_HANDEYE_VEL_SCALE": str(float(he.get("velocity_scale") or 0.05)),
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"SITE_HANDEYE_MOVE_T": str(float(he.get("move_time_sec") or 8.0)),
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"SITE_HANDEYE_SETTLE_SEC": str(float(he.get("settle_sec") or 1.5)),
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"SITE_HANDEYE_SETTLE_QD": str(float(he.get("settle_qd_max") or 0.015)),
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"SITE_HANDEYE_SETTLE_STABLE": str(float(he.get("settle_stable_sec") or 0.6)),
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"SITE_HANDEYE_SETTLE_TO": str(float(he.get("settle_timeout_sec") or 8.0)),
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"SITE_HANDEYE_PIN_HOLDS": str(int(he.get("pin_holds") if he.get("pin_holds") is not None else 2)),
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"SITE_HANDEYE_PIN_SEC": str(float(he.get("pin_hold_sec") or 0.45)),
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"SITE_HANDEYE_SKIP_UNSTABLE": (
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"true" if he.get("skip_unstable_poses", True) else "false"
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),
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"SITE_FASTDDS_PROFILE": str(paths.get("fastdds_profile") or ""),
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"SITE_CAM_NAME": camera_ns(data),
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"SITE_CAM_SERIAL": str(cam.get("serial") or ""),
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"SITE_CAM_WIDTH": str(int(cam.get("width") or 848)),
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"SITE_CAM_HEIGHT": str(int(cam.get("height") or 480)),
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"SITE_CAM_FPS": str(int(cam.get("fps") or 30)),
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"SITE_CAM_ENABLE_DEPTH": "1" if cam.get("enable_depth", True) else "0",
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"SITE_CAM_ENABLE_INFRA": "1" if cam.get("enable_infra", True) else "0",
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"SITE_CAM_PREVIEW": "1" if cam.get("preview", True) else "0",
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"SITE_CAM_PREVIEW_STEREO": "1" if cam.get("preview_stereo", True) else "0",
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"SITE_CAM_OVERLAY_HOLD": str(float(cam.get("overlay_hold_sec") or 1.5)),
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"SITE_CAM_USE_SITE_RES": "1" if cam.get("use_site_resolution", True) else "0",
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"SITE_CAM_AUTO_EXPOSURE": "1" if cam.get("auto_exposure", True) else "0",
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"SITE_CAM_AE_LIMIT_US": str(float(cam.get("ae_limit_us") if cam.get("ae_limit_us") is not None else 4000)),
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"SITE_CAM_EMITTER": "1" if cam.get("emitter_enabled", False) else "0",
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"SITE_CAM_LASER_POWER": str(float(cam.get("laser_power") if cam.get("laser_power") is not None else 0)),
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"SITE_CAM_EXPOSURE_US": str(float(cam.get("exposure_us") or 0)),
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"SITE_CAM_GAIN": str(float(cam.get("gain") or 0)),
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"SITE_D435_SERIAL": str(((data.get("cameras") or {}).get("d435") or {}).get("serial") or ""),
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"SITE_D435_WIDTH": str(int(((data.get("cameras") or {}).get("d435") or {}).get("width") or 1280)),
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"SITE_D435_HEIGHT": str(int(((data.get("cameras") or {}).get("d435") or {}).get("height") or 720)),
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"SITE_D435_FPS": str(int(((data.get("cameras") or {}).get("d435") or {}).get("fps") or 30)),
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"SITE_D405_LEFT_SERIAL": str(((data.get("cameras") or {}).get("d405_left") or {}).get("serial") or "352122274408"),
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"SITE_D405_RIGHT_SERIAL": str(((data.get("cameras") or {}).get("d405_right") or {}).get("serial") or "260522274442"),
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"SITE_YOLO_CONF": str(yolo.get("conf") or 0.10),
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"SITE_YOLO_IMGSZ": str(int(yolo.get("imgsz") or 640)),
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"SITE_YOLO_DEVICE": str(yolo.get("device") or "0"),
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"SITE_YOLO_MIN_CONF": str(yolo.get("min_conf") or 0.12),
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"SITE_GO_HOME_POSE": str(home.get("pose") or "home"),
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"SITE_GO_HOME_SPEED": str(home.get("speed") or 0.25),
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"SITE_NET_IFACE": str(robot.get("iface") or net.get("prefer_iface") or ""),
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"SITE_SERVO_Z_REF": str(servo.get("z_ref_m") or 0.40),
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"SITE_EE_X_M": str(float(servo.get("ee_x_m") or 0.25)),
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"SITE_EE_Y_M": str(float(servo.get("ee_y_m") or 0.0)),
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"SITE_EE_Z_M": str(float(servo.get("ee_z_m") or 0.24)),
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"SITE_SERVO_WATCHDOG": str(servo.get("watchdog_timeout_sec") or 0.3),
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"SITE_CAMERA_FRAME": camera_frames(data)[1],
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"SITE_GRIP_VENDOR": str(grip.get("vendor") or "dh"),
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"SITE_GRIP_MODEL": str(grip.get("model") or "PGEA-100-20-W"),
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"SITE_GRIP_SN": str(grip.get("sn") or ""),
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"SITE_GRIP_BACKEND": str(grip.get("backend") or "usb"),
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"SITE_GRIP_DEVICE": str(grip.get("device_name") or "GripperDahuanModbus"),
|
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"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 = 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 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,
|
||
"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:
|
||
"""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 = 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),
|
||
}
|
||
# 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",
|
||
"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|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)
|
||
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 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(
|
||
" 标定板 : "
|
||
f"{flat['SITE_HANDEYE_BOARD_COLS']}x{flat['SITE_HANDEYE_BOARD_ROWS']} "
|
||
f"内角点, square={flat['SITE_HANDEYE_SQUARE_M']} m"
|
||
)
|
||
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
|
||
):
|
||
print(
|
||
f" 警告：{he_path.name} 没有针对该机械臂标定 "
|
||
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(
|
||
" 警告：91 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 ""):
|
||
print(
|
||
" 提示：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" 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())
|