dual arm control from sample_udp_sender.py

2026-05-25 17:02:37 +08:00
parent 340bd9138d
commit 7551f1e8ea
18 changed files with 976 additions and 74 deletions
@@ -1,5 +1,12 @@
+"""RM75 机械臂适配层。
+
+对上提供统一的当前位姿读取、笛卡尔速度发送和停止接口；对下根据配置
+选择 mock 积分模拟器或睿尔曼 Python API2 真机通信。
+"""
+
 from __future__ import annotations

+import time
 from dataclasses import dataclass
 from numbers import Number
 from typing import Any
@@ -72,6 +79,9 @@ class RealManAdapter:
        initial_joint_pose: list[float] | None = None,
        initial_tcp_pose: list[float] | None = None,
        init_move_speed: int = 20,
+        command_mode: str = "velocity",
+        canfd_trajectory_mode: int = 2,
+        canfd_radio: int = 0,
    ) -> None:
        self._robot_ip = robot_ip
        self._robot_port = robot_port
@@ -90,7 +100,12 @@ class RealManAdapter:
        self._initial_joint_pose = initial_joint_pose
        self._initial_tcp_pose = initial_tcp_pose
        self._init_move_speed = init_move_speed
+        self._command_mode = command_mode
+        self._canfd_trajectory_mode = canfd_trajectory_mode
+        self._canfd_radio = canfd_radio
        self._arm: Any | None = None
+        if self._command_mode not in ("velocity", "pose_canfd"):
+            raise ValueError("command_mode must be one of: velocity, pose_canfd")

    def connect(self) -> None:
        try:
@@ -103,17 +118,21 @@ class RealManAdapter:
        self._arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
        handle = self._arm.rm_create_robot_arm(self._robot_ip, self._robot_port)
        self._check_robot_handle(handle)
+        self._log_info(
+            "RealMan connected: "
+            f"ip={self._robot_ip}, port={self._robot_port}, "
+            f"avoid_singularity={self._avoid_singularity}, "
+            f"frame_type={self._frame_type}, dt_ms={self._dt_ms}, "
+            f"command_mode={self._command_mode}"
+        )
        if self._configure_safety_limits:
            self._apply_safety_limits()
        if self._move_to_initial_pose_on_connect:
            self._move_to_initial_pose()
-        # 速度透传初始化必须和控制循环周期一致，避免真实机械臂出现周期不稳定。
-        ret = self._arm.rm_set_movev_canfd_init(
-            self._avoid_singularity,
-            self._frame_type,
-            self._dt_ms,
-        )
-        self._check_return(ret, "rm_set_movev_canfd_init")
+        if self._command_mode == "velocity":
+            self._init_movev_canfd()
+        else:
+            self._log_info("command_mode=pose_canfd，跳过 rm_set_movev_canfd_init。")

    def get_current_pose(self) -> ArmPose:
        self._require_arm()
@@ -125,14 +144,32 @@ class RealManAdapter:

    def send_cartesian_velocity(self, velocity: list[float], follow: bool) -> None:
        self._require_arm()
+        if self._command_mode == "pose_canfd":
+            return
        ret = self._arm.rm_movev_canfd(velocity, follow, 0, 0)
        self._check_return(ret, "rm_movev_canfd")

+    def send_cartesian_target(self, pose: ArmPose, follow: bool) -> None:
+        self._require_arm()
+        if self._command_mode != "pose_canfd":
+            raise RuntimeError("send_cartesian_target requires command_mode=pose_canfd")
+        ret = self._arm.rm_movep_canfd(
+            [pose.x, pose.y, pose.z, pose.rx, pose.ry, pose.rz],
+            follow,
+            self._canfd_trajectory_mode,
+            self._canfd_radio,
+        )
+        self._check_return(ret, "rm_movep_canfd")
+
+    def uses_pose_targets(self) -> bool:
+        return self._command_mode == "pose_canfd"
+
    def stop(self) -> None:
        if self._arm is None:
            return
        try:
-            self._arm.rm_movev_canfd([0.0] * 6, False, 0, 0)
+            if self._command_mode == "velocity":
+                self._arm.rm_movev_canfd([0.0] * 6, False, 0, 0)
            self._arm.rm_set_arm_slow_stop()
        except Exception:
            pass
@@ -151,7 +188,8 @@ class RealManAdapter:
            raise RuntimeError("睿尔曼机械臂尚未连接")

    def _apply_safety_limits(self) -> None:
-        self._try_call("rm_set_avoid_singularity_mode", True)
+        # 真机安全限幅尽量下发到控制器；不支持的 SDK 接口会在 _try_call 中降级为警告。
+        self._try_call("rm_set_avoid_singularity_mode", int(self._avoid_singularity))
        self._try_call("rm_set_arm_max_line_speed", self._max_line_speed)
        self._try_call("rm_set_arm_max_angular_speed", self._max_angular_speed)
        self._try_call("rm_set_arm_max_line_acc", self._max_line_acc)
@@ -169,6 +207,46 @@ class RealManAdapter:
        ret = self._arm.rm_movel(self._initial_tcp_pose, self._init_move_speed, 0, 0, 1)
        self._check_return(ret, "rm_movel(initial_tcp_pose)")

+    def _init_movev_canfd(self) -> None:
+        attempts = 3
+        candidates = [self._avoid_singularity]
+        if self._avoid_singularity != 0:
+            candidates.append(0)
+
+        # 某些现场控制器初始化避奇异模式会超时，失败后自动降级到 0 再重试。
+        last_ret: Any = None
+        for avoid_singularity in candidates:
+            if avoid_singularity != self._avoid_singularity:
+                self._log_warn("rm_set_movev_canfd_init 降级为 avoid_singularity=0 后重试。")
+
+            for attempt in range(1, attempts + 1):
+                ret = self._arm.rm_set_movev_canfd_init(
+                    avoid_singularity,
+                    self._frame_type,
+                    self._dt_ms,
+                )
+                last_ret = ret
+                code = self._return_code(ret)
+                if code == 0:
+                    self._avoid_singularity = avoid_singularity
+                    self._log_info(
+                        "rm_set_movev_canfd_init 成功："
+                        f"avoid_singularity={avoid_singularity}, "
+                        f"frame_type={self._frame_type}, dt_ms={self._dt_ms}"
+                    )
+                    return
+
+                self._log_warn(
+                    "rm_set_movev_canfd_init 失败："
+                    f"avoid_singularity={avoid_singularity}, "
+                    f"frame_type={self._frame_type}, dt_ms={self._dt_ms}, "
+                    f"attempt={attempt}/{attempts}, ret={ret!r}"
+                )
+                if attempt < attempts:
+                    time.sleep(0.2)
+
+        self._check_return(last_ret, "rm_set_movev_canfd_init")
+
    def _try_call(self, name: str, *args: Any) -> None:
        func = getattr(self._arm, name, None)
        if func is None:
@@ -185,18 +263,28 @@ class RealManAdapter:
        if self._logger is not None:
            self._logger.warn(message)

-    @staticmethod
-    def _check_robot_handle(handle: Any) -> None:
+    def _log_info(self, message: str) -> None:
+        if self._logger is not None:
+            self._logger.info(message)
+
+    def _check_robot_handle(self, handle: Any) -> None:
        handle_id = getattr(handle, "id", None)
        if handle_id == -1:
-            raise RuntimeError("rm_create_robot_arm failed: socket error or robot unreachable")
+            raise RuntimeError(
+                "rm_create_robot_arm failed: TCP may be reachable, but the RealMan "
+                f"controller did not return robot info from {self._robot_ip}:{self._robot_port}"
+            )

    @staticmethod
    def _check_return(ret: Any, name: str) -> None:
-        code = ret[0] if isinstance(ret, tuple) and ret else ret
+        code = RealManAdapter._return_code(ret)
        if isinstance(code, int) and code != 0:
            raise RuntimeError(f"{name} failed with code {code}: {ret!r}")

+    @staticmethod
+    def _return_code(ret: Any) -> Any:
+        return ret[0] if isinstance(ret, tuple) and ret else ret
+
    @classmethod
    def _find_pose(cls, obj: Any) -> list[float] | None:
        # 不同 SDK 版本返回字段可能略有差异，因此递归查找常见 TCP 位姿字段。