sladro
beef7c2750
通过深度分析发现debug_execution.py中机械臂无法移动的根本原因： 缺少p.stepSimulation()调用导致PyBullet控制命令无法执行。 修复内容： - 在插值循环中添加stepSimulation调用，让每步控制命令生效 - 在收敛等待中添加stepSimulation调用，确保最终位置收敛 - 删除过时的测试文件和debug文件，保持项目整洁 修复效果： - 关节误差从0.8000降至0.0049（降低99%） - 位置误差从1.4720m降至0.0070m（降低99.5%） - 路径长度从0.0000m恢复至1.5020m（接近理论值1.5095m） 这个修复也为PathExecutor在无GUI环境下的独立使用提供了重要参考。 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
236 lines
10 KiB
Python
236 lines
10 KiB
Python
#!/usr/bin/env python3
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"""
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路径执行调试脚本
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专门测试路径执行过程中的坐标对应关系
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"""
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import sys
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import os
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sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
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from src.config_loader import ConfigLoader
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from src.robot.arm_controller import create_arm_controller
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from src.simulation.environment import Environment
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from src.planning.ai_rrt_star import AIRRTStarPlanner
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from src.planning.collision_checker import CollisionChecker
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from src.planning.path_executor import PathExecutor
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import pybullet as p
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import pybullet_data
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import numpy as np
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import time
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def debug_path_execution():
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"""调试路径执行的具体步骤"""
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print("=== 路径执行调试分析 ===")
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# 初始化仿真
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physics_client = p.connect(p.GUI)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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p.setGravity(0, 0, 0) # 关闭重力
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try:
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# 加载配置和组件
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config_loader = ConfigLoader()
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arm_controller = create_arm_controller(config_loader, physics_client)
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environment = Environment(config_loader, physics_client)
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collision_checker = CollisionChecker(arm_controller, environment, config_loader)
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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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# 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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test_path = []
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for i in range(5): # 5个路径点
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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_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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print("\n=== 步骤2: 分析路径的理论末端位置 ===")
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theoretical_positions = []
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for i, config in enumerate(test_path):
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pos, ori = arm_controller.forward_kinematics(config)
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theoretical_positions.append(pos)
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print(f"Waypoint {i}: 关节{config[0]:.3f} -> 末端位置{[f'{x:.3f}' for x in pos]}")
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print("\n=== 步骤3: 可视化理论路径 ===")
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# 绘制理论路径线条
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line_ids = []
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for i in range(len(theoretical_positions) - 1):
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line_id = p.addUserDebugLine(
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theoretical_positions[i],
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theoretical_positions[i + 1],
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lineColorRGB=[0, 1, 0], # 绿色 - 理论路径
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lineWidth=3,
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physicsClientId=physics_client
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)
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line_ids.append(line_id)
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print("\n=== 步骤4: 执行路径并记录实际位置 ===")
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actual_positions = []
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# 重置机械臂到起始位置
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arm_controller.set_joint_positions(current_joints)
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for _ in range(50): # 等待稳定
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p.stepSimulation(physicsClientId=physics_client)
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# 模拟主程序的路径执行器插值方式
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timestep = 0.01 # 和主程序相同的timestep
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velocity_scaling = 1.0 # 和主程序默认值相同
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position_tolerance = 0.01 # 和主程序默认值相同
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for i, target_config in enumerate(test_path):
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print(f"\n--- 执行Waypoint {i} (模拟路径执行器插值) ---")
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print(f"目标关节配置: {[f'{x:.3f}' for x in target_config]}")
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# 计算理论末端位置
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theoretical_pos, _ = arm_controller.forward_kinematics(target_config)
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print(f"理论末端位置: {[f'{x:.3f}' for x in theoretical_pos]}")
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# === 模拟路径执行器的插值过程 ===
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current_config = arm_controller.get_current_joint_positions()
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# 计算距离和插值步数
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distance = np.linalg.norm(np.array(target_config) - np.array(current_config))
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move_time = distance / velocity_scaling
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num_steps = int(move_time / timestep) + 1
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print(f" 插值参数: 距离{distance:.4f}, 移动时间{move_time:.3f}s, 插值步数{num_steps}")
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# 执行插值
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for step in range(1, num_steps + 1):
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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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# 设置插值位置
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arm_controller.set_joint_positions(interpolated.tolist())
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# 执行仿真步进（关键修复：让PyBullet执行控制命令）
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p.stepSimulation(physicsClientId=physics_client)
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# 等待timestep时间（和主程序相同）
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time.sleep(timestep)
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# 记录状态（每10步一次）
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if step % max(1, num_steps // 5) == 0:
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actual_joints = arm_controller.get_current_joint_positions()
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actual_pos, _ = arm_controller.get_current_pose()
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interp_error = np.linalg.norm(interpolated - np.array(actual_joints))
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pos_error = np.linalg.norm(np.array(theoretical_pos) - np.array(actual_pos))
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print(f" 插值步{step}/{num_steps}: 插值误差{interp_error:.4f}, 位置误差{pos_error:.4f}")
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# 最终设置目标位置
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arm_controller.set_joint_positions(target_config)
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# 等待收敛（和主程序相同的逻辑）
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wait_start = time.time()
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max_wait = max(timestep * 10, move_time * 2)
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final_converged = False
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while time.time() - wait_start < max_wait:
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final_config = 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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if final_distance <= position_tolerance:
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final_converged = True
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break
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# 执行仿真步进让机械臂继续收敛
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p.stepSimulation(physicsClientId=physics_client)
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time.sleep(timestep)
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# 记录最终实际位置
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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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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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print("\n=== 步骤5: 绘制实际执行路径 ===")
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# 绘制实际执行路径
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for i in range(len(actual_positions) - 1):
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line_id = p.addUserDebugLine(
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actual_positions[i],
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actual_positions[i + 1],
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lineColorRGB=[1, 0, 0], # 红色 - 实际路径
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lineWidth=3,
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physicsClientId=physics_client
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)
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line_ids.append(line_id)
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print("\n=== 步骤6: 对比分析 ===")
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total_theoretical_length = 0
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total_actual_length = 0
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max_waypoint_error = 0
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for i in range(len(test_path)):
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theoretical_pos = theoretical_positions[i]
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actual_pos = actual_positions[i]
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waypoint_error = np.linalg.norm(np.array(theoretical_pos) - np.array(actual_pos))
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max_waypoint_error = max(max_waypoint_error, waypoint_error)
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print(f"Waypoint {i}:")
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print(f" 理论: {[f'{x:.3f}' for x in theoretical_pos]}")
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print(f" 实际: {[f'{x:.3f}' for x in actual_pos]}")
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print(f" 误差: {waypoint_error:.4f}m")
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if i > 0:
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theoretical_segment = np.linalg.norm(
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np.array(theoretical_positions[i]) - np.array(theoretical_positions[i-1])
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)
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actual_segment = np.linalg.norm(
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np.array(actual_positions[i]) - np.array(actual_positions[i-1])
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)
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total_theoretical_length += theoretical_segment
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total_actual_length += actual_segment
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print(f"\n总结:")
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print(f"理论路径长度: {total_theoretical_length:.4f}m")
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print(f"实际路径长度: {total_actual_length:.4f}m")
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print(f"路径长度差异: {abs(total_theoretical_length - total_actual_length):.4f}m")
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print(f"最大waypoint误差: {max_waypoint_error:.4f}m")
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if max_waypoint_error > 0.02:
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print("❌ 发现显著的路径执行误差")
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else:
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print("✅ 路径执行精度良好")
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print(f"\n绿色线条 = 理论路径(基于正向运动学)")
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print(f"红色线条 = 实际执行路径(基于实际机械臂位置)")
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print(f"如果两条线重合，说明路径执行准确")
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input("按回车键关闭...")
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except Exception as e:
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print(f"调试过程中发生错误: {e}")
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import traceback
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traceback.print_exc()
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finally:
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p.disconnect(physicsClientId=physics_client)
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if __name__ == "__main__":
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debug_path_execution() |