feat: 添加KDL与PyBullet坐标系统一致性调试功能
- 在debug_execution.py中增加KDL和PyBullet末端坐标对比 - 在main_window.py中添加_print_debug_coordinates方法 - 实时显示两种计算方式的末端位置误差 - 用于验证运动学计算的准确性 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
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@ -37,20 +37,37 @@ def debug_path_execution():
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path_executor = PathExecutor(arm_controller, config_loader)
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print("=== 步骤1: 生成简单测试路径 ===")
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# 获取当前位置
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current_joints = arm_controller.get_current_joint_positions()
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print(f"起始关节配置: {[f'{x:.3f}' for x in current_joints]}")
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# 打印初始状态的KDL和PyBullet坐标对比
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print("\n=== 初始状态坐标对比 ===")
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# KDL正运动学计算
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kdl_result = arm_controller.forward_kinematics(current_joints)
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kdl_position = kdl_result[0] if kdl_result else [0, 0, 0]
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print(f"KDL计算末端坐标: [{kdl_position[0]:.4f}, {kdl_position[1]:.4f}, {kdl_position[2]:.4f}]")
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# PyBullet仿真中的实际末端坐标
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end_link_state = p.getLinkState(arm_controller.robot_loader.robot_id,
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arm_controller.robot_loader.end_effector_index,
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physicsClientId=physics_client)
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pybullet_position = list(end_link_state[0])
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print(f"PyBullet末端坐标: [{pybullet_position[0]:.4f}, {pybullet_position[1]:.4f}, {pybullet_position[2]:.4f}]")
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# 计算误差
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kdl_pb_error = np.linalg.norm(np.array(kdl_position) - np.array(pybullet_position))
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print(f"KDL与PyBullet误差: {kdl_pb_error:.6f}m")
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print("=" * 50)
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# 计算当前末端位置
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current_pos, current_ori = arm_controller.forward_kinematics(current_joints)
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print(f"起始末端位置: {[f'{x:.3f}' for x in current_pos]}")
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# 生成一个简单的测试路径：只修改第一个关节
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# 生成一个简单的测试路径：修改关节角度以产生更大的空间移动
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test_path = []
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for i in range(5): # 5个路径点
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for i in range(10): # 10个路径点（原来5个的两倍）
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test_config = current_joints.copy()
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test_config[0] += i * 0.2 # 每步增加0.2弧度
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test_config[0] += i * 0.2 # 每步增加0.2弧度，总共移动1.8弧度（原来0.8的两倍多）
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test_config[1] += i * 0.15 # 每步增加0.15弧度，总共移动1.35弧度
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test_path.append(test_config)
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print(f"测试路径包含 {len(test_path)} 个waypoint")
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@ -159,14 +176,33 @@ def debug_path_execution():
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final_joints = arm_controller.get_current_joint_positions()
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final_pos, _ = arm_controller.get_current_pose()
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actual_positions.append(final_pos)
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final_joint_error = np.linalg.norm(np.array(target_config) - np.array(final_joints))
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final_pos_error = np.linalg.norm(np.array(theoretical_pos) - np.array(final_pos))
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print(f"最终关节位置: {[f'{x:.3f}' for x in final_joints]}")
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print(f"最终末端位置: {[f'{x:.3f}' for x in final_pos]}")
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print(f"最终关节误差: {final_joint_error:.4f}")
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print(f"最终位置误差: {final_pos_error:.4f}")
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# 添加KDL和PyBullet坐标对比
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print(f"\n--- Waypoint {i} 执行完毕坐标对比 ---")
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# KDL正运动学计算
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kdl_result = arm_controller.forward_kinematics(final_joints)
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kdl_position = kdl_result[0] if kdl_result else [0, 0, 0]
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print(f"KDL计算末端坐标: [{kdl_position[0]:.4f}, {kdl_position[1]:.4f}, {kdl_position[2]:.4f}]")
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# PyBullet仿真中的实际末端坐标
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end_link_state = p.getLinkState(arm_controller.robot_loader.robot_id,
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arm_controller.robot_loader.end_effector_index,
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physicsClientId=physics_client)
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pybullet_position = list(end_link_state[0])
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print(f"PyBullet末端坐标: [{pybullet_position[0]:.4f}, {pybullet_position[1]:.4f}, {pybullet_position[2]:.4f}]")
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# 计算误差
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kdl_pb_error = np.linalg.norm(np.array(kdl_position) - np.array(pybullet_position))
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print(f"KDL与PyBullet误差: {kdl_pb_error:.6f}m")
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if final_pos_error > 0.02: # 2cm容差
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print(f"⚠️ Waypoint {i} 存在显著位置误差！")
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@ -464,10 +464,49 @@ class MainWindow:
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except Exception as e:
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self.update_status(f"Failed to initialize planning components: {e}")
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def _print_debug_coordinates(self, stage_name):
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"""打印KDL、PyBullet和真实机械臂末端坐标"""
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print(f"\n=== {stage_name} 末端坐标调试信息 ===")
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# 获取当前关节角度
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current_joints = self.arm_controller.get_current_joint_positions()
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print(f"当前关节角度: {[f'{j:.4f}' for j in current_joints]}")
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# KDL正运动学计算
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kdl_result = self.arm_controller.forward_kinematics(current_joints)
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kdl_position = kdl_result[0] if kdl_result else [0, 0, 0]
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print(f"KDL计算末端坐标: [{kdl_position[0]:.4f}, {kdl_position[1]:.4f}, {kdl_position[2]:.4f}]")
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# PyBullet仿真中的实际末端坐标
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end_link_state = p.getLinkState(self.arm_controller.robot_loader.robot_id,
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self.arm_controller.robot_loader.end_effector_index,
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physicsClientId=self.arm_controller.physics_client)
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pybullet_position = list(end_link_state[0])
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print(f"PyBullet末端坐标: [{pybullet_position[0]:.4f}, {pybullet_position[1]:.4f}, {pybullet_position[2]:.4f}]")
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# 真实机械臂末端坐标（与PyBullet相同，因为这是仿真环境）
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print(f"真实机械臂末端坐标: [{pybullet_position[0]:.4f}, {pybullet_position[1]:.4f}, {pybullet_position[2]:.4f}]")
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# 计算误差（如果可能的话）
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try:
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if hasattr(kdl_position, '__len__') and len(kdl_position) >= 3:
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kdl_error = ((kdl_position[0] - pybullet_position[0])**2 +
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(kdl_position[1] - pybullet_position[1])**2 +
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(kdl_position[2] - pybullet_position[2])**2)**0.5
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print(f"KDL与PyBullet误差: {kdl_error:.6f}m")
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else:
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print("无法计算误差：KDL返回格式不匹配")
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except Exception as e:
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print(f"误差计算失败: {e}")
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print("=" * 50)
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def execute_three_stages(self):
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"""执行三阶段任务：当前位置→物体→A点→B点"""
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self.update_status("Starting three-stage execution...")
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# 点击按钮后立即打印坐标
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self._print_debug_coordinates("点击路径执行按钮后")
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# 暂停仿真以避免规划期间的副作用
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was_running = self.simulation_running
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if was_running:
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@ -529,6 +568,12 @@ class MainWindow:
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# 从现在开始忽略物体碰撞（因为已经抓取）
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self.collision_checker.ignore_transport_object = True
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# 第一段执行完毕后打印坐标
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self._print_debug_coordinates("第一段执行完毕后")
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# 第一段执行完成后退出
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return
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# ===================
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# 第二阶段：物体 → A点
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# ===================
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