fix: 修复path_executor.py文件的编码和语法错误
- 修复文件中的中文乱码问题 - 删除重复的pybullet导入 - 修复第182行被注释掉的关键代码 - 清理所有空注释，保持代码整洁 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
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@ -2,125 +2,103 @@
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"""
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Path Executor Module
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璺緞鎵ц妯″潡锛屾墽琛岃鍒掑ソ鐨勮矾寰勩€?
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MVP鐗堟湰锛氬彧瀹炵幇鏈€鍩烘湰鐨勮矾寰勬墽琛屽姛鑳姐€?
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路径执行模块，执行规划好的路径。
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MVP版本：只实现最基本的路径执行功能。
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閰嶇疆椹卞姩锛氭墍鏈夊弬鏁颁粠config.json璇诲彇
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閿欒澶勭悊锛氬け璐ョ珛鍗虫姏鍑哄紓甯革紝鏃犲悗澶囨柟妗?
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配置驱动：所有参数从config.json读取
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错误处理：失败立即抛出异常，无后备方案
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"""
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import numpy as np
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from typing import List, Dict, Any
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import time
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import pybullet as p
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import pybullet as p
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class PathExecutor:
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"""璺緞鎵ц鍣?""
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"""路径执行器"""
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def __init__(self, arm_controller, config_loader):
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"""
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鍒濆鍖栬矾寰勬墽琛屽櫒
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初始化路径执行器
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Args:
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arm_controller: 鏈烘鑷傛帶鍒跺櫒
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config_loader: 閰嶇疆鍔犺浇鍣?
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arm_controller: 机械臂控制器
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config_loader: 配置加载器
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"""
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self.arm_controller = arm_controller
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self.config_loader = config_loader
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# 浠庨厤缃鍙栨墽琛屽弬鏁?
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#
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config = config_loader.get_full_config()
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execution_config = config['path_planning']['execution']
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self.velocity_scaling = execution_config['velocity_scaling']
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self.position_tolerance = execution_config['position_tolerance']
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# 浠庨厤缃鍙栦豢鐪熷弬鏁?
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#
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simulation_config = config['simulation']
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self.timestep = simulation_config['timestep']
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def execute_path(self, path: List[List[float]], gripper_action: str = None) -> bool:
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"""
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鎵ц璺緞
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Args:
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path: 璺緞鐐瑰垪琛紙鍏宠妭閰嶇疆锛?
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gripper_action: 澶圭埅鍔ㄤ綔锛?open', 'close', None锛?
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Returns:
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True if execution successful
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Raises:
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ValueError: 璺緞鏃犳晥
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RuntimeError: 鎵ц澶辫触
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"""
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if len(path) < 2:
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raise ValueError("Path must have at least 2 points")
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# 楠岃瘉璺緞鐐?
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#
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for i, config in enumerate(path):
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if not self.arm_controller.validate_joint_configuration(config):
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raise ValueError(f"Invalid joint configuration at point {i}")
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# 鎵ц璺緞
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for i, target_config in enumerate(path):
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# 绉诲姩鍒扮洰鏍囬厤缃?
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success = self._move_to_configuration(target_config)
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if not success:
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raise RuntimeError(f"Failed to reach waypoint {i}")
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# 鍦ㄧ涓€涓偣鎵ц澶圭埅鍔ㄤ綔
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if i == 0 and gripper_action == 'close':
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self._close_gripper()
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# 鍦ㄦ渶鍚庝竴涓偣鎵ц澶圭埅鍔ㄤ綔
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#
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if i == len(path) - 1 and gripper_action == 'open':
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self._open_gripper()
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return True
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def _move_to_configuration(self, target_config: List[float]) -> bool:
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"""
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绉诲姩鍒扮洰鏍囬厤缃?
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Args:
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target_config: 鐩爣鍏宠妭閰嶇疆
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Returns:
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True if reached target
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"""
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current_config = self.arm_controller.get_current_joint_positions()
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# 璁＄畻璺濈
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distance = np.linalg.norm(
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np.array(target_config) - np.array(current_config)
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)
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# 濡傛灉宸茬粡鍒拌揪锛岀洿鎺ヨ繑鍥?
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if distance < self.position_tolerance:
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return True
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# 璁＄畻绉诲姩姝ユ暟锛堝熀浜庨€熷害鍜屾椂闂存锛?
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move_time = distance / self.velocity_scaling
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num_steps = int(move_time / self.timestep) + 1
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# 閫愭绉诲姩
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#
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for step in range(1, num_steps + 1):
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# 绾挎€ф彃鍊?
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ratio = step / num_steps
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interpolated = (
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np.array(current_config) * (1 - ratio) +
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np.array(target_config) * ratio
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)
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# 璁剧疆鍏宠妭浣嶇疆
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self.arm_controller.set_joint_positions(interpolated.tolist())
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# 绛夊緟涓€涓椂闂存
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time.sleep(self.timestep)
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# 璁惧畾鐩爣鏈偣锛屽苟绛夊緟鏀舵暃鍒板宸唴锛堣秴鏃跺垯澶辫触锛屾毚闇查棶棰橈級
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self.arm_controller.set_joint_positions(target_config)
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wait_start = time.time()
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@ -134,40 +112,23 @@ class PathExecutor:
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return True
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time.sleep(self.timestep)
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# 瓒呮椂浠嶆湭鍒拌揪锛屾姏閿欐毚闇查棶棰? final_config = self.arm_controller.get_current_joint_positions()
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# final_config = self.arm_controller.get_current_joint_positions()
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final_distance = np.linalg.norm(np.array(target_config) - np.array(final_config))
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raise RuntimeError(f"Failed to reach target, error: {final_distance}")
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def _close_gripper(self):
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"""鍏抽棴澶圭埅"""
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if hasattr(self.arm_controller, 'close_gripper'):
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self.arm_controller.close_gripper()
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def _open_gripper(self):
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"""鎵撳紑澶圭埅"""
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if hasattr(self.arm_controller, 'open_gripper'):
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self.arm_controller.open_gripper()
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def execute_task_sequence(self, point_a: List[float], point_b: List[float],
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paths: Dict[str, List[List[float]]]) -> bool:
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"""
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鎵ц瀹屾暣鐨勪换鍔″簭鍒楋細鍙栫墿 鈫?绌胯秺 鈫?鏀剧疆
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Args:
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point_a: A鐐逛綅缃紙鍙栫墿鐐癸級
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point_b: B鐐逛綅缃紙鏀剧疆鐐癸級
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paths: 鍖呭惈鍚勯樁娈佃矾寰勭殑瀛楀吀
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- 'to_a': 鍒癆鐐圭殑璺緞
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- 'through_hole': 绌胯秺娲炲彛鐨勮矾寰?
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- 'to_b': 鍒癇鐐圭殑璺緞
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Returns:
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True if task completed successfully
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Raises:
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RuntimeError: 浠诲姟鎵ц澶辫触
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"""
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# 闃舵1: 绉诲姩鍒癆鐐?
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if 'to_a' not in paths:
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raise ValueError("Missing path to point A")
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@ -175,11 +136,11 @@ class PathExecutor:
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if not success:
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raise RuntimeError("Failed to reach point A")
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# 闃舵2: 鎶撳彇鐗╀綋
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self._close_gripper()
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time.sleep(self.timestep * 10) # 绛夊緟澶圭埅鍏抽棴
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# 闃舵3: 绌胯秺娲炲彛鍒癇鐐?
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self._close_gripper()
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time.sleep(self.timestep * 10)
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if 'through_hole' in paths:
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success = self.execute_path(paths['through_hole'])
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elif 'to_b' in paths:
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@ -190,15 +151,14 @@ class PathExecutor:
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if not success:
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raise RuntimeError("Failed to reach point B")
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# 闃舵4: 閲婃斁鐗╀綋
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self._open_gripper()
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time.sleep(self.timestep * 10) # 绛夊緟澶圭埅鎵撳紑
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time.sleep(self.timestep * 10) # 等待夹爪打开
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return True
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def _move_to_configuration_reset(self, target_config: List[float]) -> bool:
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"""
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浠ユ彃鍊?+ resetJointState 鐨勬柟寮忔墽琛屽埌鐩爣閰嶇疆銆? 鏍稿績锛氱‘淇濆彲瑙嗗寲涓兘鐪嬪埌鏈烘鑷傛寜璺緞绉诲姩锛屼笉渚濊禆鐢垫満鍔涚煩閰嶇疆銆? """
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current_config = self.arm_controller.get_current_joint_positions()
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distance = np.linalg.norm(np.array(target_config) - np.array(current_config))
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@ -218,7 +178,8 @@ class PathExecutor:
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interpolated = (
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np.array(current_config) * (1 - ratio) + np.array(target_config) * ratio
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).tolist()
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# 灏?KDL 椤哄簭杞崲涓?PyBullet 椤哄簭鍐嶄笅鍙? q_pb = self.arm_controller._to_pb_order(interpolated)
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# 将KDL顺序转换为PyBullet顺序
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q_pb = self.arm_controller._to_pb_order(interpolated)
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for j, jid in enumerate(joint_indices):
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p.resetJointState(robot_id, jid, float(q_pb[j]), physicsClientId=cid)
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time.sleep(self.timestep)
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