ZhengLiu-cart/acAubo_visual_servo_from_Yikai
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modify cfgs

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YikaiFu-cart
2026-05-07 11:24:09 +08:00
parent 8636099a52
commit 0d0b398552
2 changed files with 10 additions and 3 deletions
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8
control.py
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@ -48,18 +48,19 @@ PICK_ANGLE_SIGN = 1.0
MAX_PICK_ANGLE_DEG = 30.0 MAX_PICK_ANGLE_DEG = 30.0
# 当前项目只使用一个放置位，仍保留列表结构以兼容 control_core。 # 当前项目只使用一个放置位，仍保留列表结构以兼容 control_core。
place_positions = [[-0.6283, 0.0354, -0.0889, 2.8798, 0.02, -1.4346]] place_positions = [[-0.6203, 0.026, 0.1078, 2.9923, 0.0366, -1.4157]]
# -------------------- 夹爪与机械臂运动参数 -------------------- # -------------------- 夹爪与机械臂运动参数 --------------------
GRIPPER_CLOSE_IO = 1 GRIPPER_CLOSE_IO = 1
GRIPPER_OPEN_IO = 0 GRIPPER_OPEN_IO = 0
GRIPPER_ACTION_DELAY = 2.0 GRIPPER_ACTION_DELAY = 2.0
PICK_POINT_ARRIVAL_DELAY = 1.0
SCISSORS_ENABLED = True SCISSORS_ENABLED = True
# 这里沿用底层 SDK 的弧度制。 # 这里沿用底层 SDK 的弧度制。
ARM_SPEED = 100 * (M_PI / 180) ARM_SPEED = 150 * (M_PI / 180)
ARM_ACCEL = 100 * (M_PI / 180) ARM_ACCEL = 120 * (M_PI / 180)
# -------------------- 参数同步清单 -------------------- # -------------------- 参数同步清单 --------------------
@ -88,6 +89,7 @@ _CONFIG_NAMES = (
"GRIPPER_CLOSE_IO", "GRIPPER_CLOSE_IO",
"GRIPPER_OPEN_IO", "GRIPPER_OPEN_IO",
"GRIPPER_ACTION_DELAY", "GRIPPER_ACTION_DELAY",
"PICK_POINT_ARRIVAL_DELAY",
"SCISSORS_ENABLED", "SCISSORS_ENABLED",
"ARM_SPEED", "ARM_SPEED",
"ARM_ACCEL", "ARM_ACCEL",

5
control_core.py
View File

@ -741,6 +741,11 @@ class RobotArmController:
self.return_home() self.return_home()
return False return False
pick_point_delay = float(_cfg("PICK_POINT_ARRIVAL_DELAY"))
if pick_point_delay > 0:
print(f"机械臂：已到达抓取点，等待 {pick_point_delay:.1f} 秒后执行夹爪动作")
time.sleep(pick_point_delay)
self.close_scissors_for_pick() self.close_scissors_for_pick()
retreat_joints = self.move_pose(approach_pose, pickup_joints, description="采摘后返回预抓取点") retreat_joints = self.move_pose(approach_pose, pickup_joints, description="采摘后返回预抓取点")