多段关节运动完整示例

本示例演示使用 move_sequence() 一次提交两段关节空间运动：先做单关节小偏移、再返回起点。所有段共享同一组 groups，每段通过 seq.add_move_joint() 添加；目标由当前读取的关节位置加有限偏移生成。

涉及状态： JointStand、upper_body_tele_task

涉及接口： create_move_sequence_builder()、seq.add_move_joint()、move_sequence()

Python

import os
import time

import numpy as np

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

ARMS = ("left_manipulator", "right_manipulator")
JOINT_OFFSET = 0.05  # 单关节偏移（rad）


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}")


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

    # 读取当前关节位置作为起点；腰部只回发当前值
    start = {arm: list(client.get_group_state(arm, key="position")) for arm in ARMS}
    waist_q = list(client.get_group_state("waist", key="position"))

    offset_q = {arm: list(q) for arm, q in start.items()}
    for arm in ARMS:
        offset_q[arm][0] += JOINT_OFFSET

    seq = movetools.create_move_sequence_builder(
        groups=["waist", "left_manipulator", "right_manipulator"],
    )

    seq.add_move_joint(
        {
            "waist": np.array(waist_q),
            "left_manipulator": np.array(offset_q["left_manipulator"]),
            "right_manipulator": np.array(offset_q["right_manipulator"]),
        },
        expect_vel=150,
    )
    seq.add_move_joint(
        {
            "waist": np.array(waist_q),
            "left_manipulator": np.array(start["left_manipulator"]),
            "right_manipulator": np.array(start["right_manipulator"]),
        },
        expect_vel=150,
    )

    input("Press Enter to run move_sequence...")
    result = movetools.move_sequence(seq)
    check_result(result, "move_sequence")

    movetools.wait_until_idle()
    movetools.raise_if_error()

    end = {arm: list(client.get_group_state(arm, key="position")) for arm in ARMS}
    print(f"restored joint0 delta: {[round(end[a][0] - start[a][0], 4) for a in ARMS]}")
    print("move_sequence complete")

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()