笛卡尔到点完整示例

本示例演示使用 move_point() 将左臂末端移动到相对当前位姿抬高 3 cm 的 base frame 目标再返回。move_point() 会对目标末端位姿求 IK，在关节空间中规划路径并执行点到点运动；末端路径不保证为直线。目标由当前读取的末端位姿加有限偏移生成，不使用硬编码绝对位姿。

涉及状态： JointStand、upper_body_tele_task

涉及接口： move_joint()、move_point()、wait_until_idle()、get_cartesian_state()

Python

import math
import os
import time

os.environ.setdefault("FASTDDS_BUILTIN_TRANSPORTS", "UDPv4")  # 机器人上运行必须设置

from fourier_aurora_client import AuroraClient
from movetools_session import MoveToolsSession

Z_OFFSET = 0.03  # 末端 Z 向偏移（m），保持在小幅范围内


def wait_fsm(client, expected, timeout_s=8.0):
    deadline = time.monotonic() + timeout_s
    while client.get_fsm_state() != expected:
        if time.monotonic() >= deadline:
            raise RuntimeError(f"state {expected} not reached")
        time.sleep(0.05)


def check_result(result, name):
    if not result.success:
        raise RuntimeError(f"{name} failed: {result.code} {result.message}")


def wait_and_check(movetools, name):
    movetools.wait_until_idle()
    movetools.raise_if_error()
    print(f"{name} complete")


def normalized_pose(pose):
    pose = list(pose)
    norm = math.sqrt(sum(q * q for q in pose[3:]))
    return pose[:3] + [q / norm for q in pose[3:]]


client = AuroraClient.get_instance(
    domain_id=123,  # 必须与当前 AuroraCore 的 DDS domain 一致
    robot_name="grw",
)
movetools = MoveToolsSession(client, robot_name="grw")
started = False

try:
    input("Press Enter to switch to JointStand...")
    client.set_fsm_state(1)
    wait_fsm(client, 1)
    time.sleep(2.0)

    input("Press Enter to switch to upper_body_tele_task...")
    client.set_fsm_state(4)
    wait_fsm(client, 4)
    time.sleep(1.0)

    movetools.start()
    started = True

    # 读取当前左臂末端位姿（base 系）并归一化四元数，作为起点
    start_pose = normalized_pose(client.get_cartesian_state("left_manipulator", "pose"))
    print(f"start pose: {[round(v, 4) for v in start_pose]}")

    target_pose = start_pose[:2] + [start_pose[2] + Z_OFFSET] + start_pose[3:]

    input("Press Enter to run move_point...")
    result = movetools.move_point(
        groups=["left_manipulator"],
        target_poses={"left_end_effector_link": target_pose},
        expect_vel=150,
        frame="base",
    )
    check_result(result, "move_point")
    wait_and_check(movetools, "move_point")

    moved_pose = normalized_pose(client.get_cartesian_state("left_manipulator", "pose"))
    print(f"z delta reached: {round(moved_pose[2] - start_pose[2], 4)}")

    input("Press Enter to return to the start pose...")
    result = movetools.move_point(
        groups=["left_manipulator"],
        target_poses={"left_end_effector_link": start_pose},
        expect_vel=150,
        frame="base",
    )
    check_result(result, "move_point back")
    wait_and_check(movetools, "move_point back")

finally:
    if started:
        movetools.stop()
    if client.get_fsm_state() != 3:
        client.set_fsm_state(3)   # 回到策略站立状态
        wait_fsm(client, 3)
    client.close()