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标题: 无法控制灵巧手实现“抓取” [打印本页]

作者: shine 时间: 6 小时前
标题: 无法控制灵巧手实现“抓取”
我先是按照比赛README中的方法，对action中的pick赋值"left_hand"或者"right_hand"，并未成功使灵巧手执行动作。

<blockquote>action = {

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obs = {'Kuavo': {'body_state': {'world_position': array([    4.3838,    9.0099,    0.4985], dtype=float32), 'world_orient': array([ 0.095883, -0.023685, 0.0024538,    0.99511], dtype=float32), 'root_linear_velocity': array([ 0.010874,  -0.0018713, 0.0037899], dtype=float32), 'root_angular_velocity': array([-0.00039027,  0.00030474,  0.00039159], dtype=float32)}, 'joint_state': {'arms': {'positions': array([ 0.013564, 0.013524,  -0.0023743, 0.0023065, -0.00028167,  0.00027352, -0.089057, -0.08912,  2.0938e-06, -1.7153e-06, -0.00036261,  0.00035351, 7.503e-05,  7.5662e-05], dtype=float32), 'velocities': array([ 0.015696, 0.016391,  -0.0028918, 0.0026318,  -0.0010808,  0.00034319, -0.097502, -0.098571, -0.00034853, 0.0003949, 0.0052347,  -0.0057614, 0.0014454, 0.0013926], dtype=float32), 'applied_effort': array([       0,          0,          0,          0,          0,          0,          0,          0,          0,          0,          0,          0,          0,          0], dtype=float32), 'stiffness': array([       200,       200,       200,       200,       200,       200,       200,       200,       200,       200,       200,       200,       200,       200], dtype=float32), 'dampings': array([    20.2,       20.2,       20.5,       20.5,       10.2,       10.2,       20.1,       20.1,       10.1,       10.1,       10.1,       10.1,       10.1,       10.1], dtype=float32)}, 'legs': {'positions': array([ 0.019958, -0.018487,  0.00026956, -4.3708e-05, -0.42012, -0.41968,    0.83777,    0.83898, -0.46528, -0.46693, -0.02029, 0.018124], dtype=float32), 'velocities': array([  0.0022735, 0.0037872, 0.020031, -0.004135, -0.00055093, 0.0099796, -0.032576, -0.039103, 0.032908, 0.0088247, -0.12909, 0.097027], dtype=float32), 'applied_effort': array([ -2.6149,    2.3503, -0.16872,    0.15137,    1.4549,    1.4162,    -20.497,    -20.843,    17.405,    17.564,    0.02879, 0.030847], dtype=float32), 'stiffness': array([       0,          0,          0,          0,          0,          0,          0,          0,          0,          0,          0,          0], dtype=float32), 'dampings': array([       0,          0,          0,          0,          0,          0,          0,          0,          0,          0,          0,          0], dtype=float32)}, 'head': {'positions': array([-3.5783e-05, 0.016182], dtype=float32), 'velocities': array([ 0.00038533, -0.023152], dtype=float32), 'applied_effort': array([       0,          0], dtype=float32), 'stiffness': array([       20,       20], dtype=float32), 'dampings': array([       3,          3], dtype=float32)}}}, 'camera': {'rgb': array([[[ 95,  74,  50],
      [ 95,  75,  50],
      [ 95,  74,  49],
      ...,
      [ 32,  35,  33],
      [ 33,  36,  33],
      [ 33,  36,  33]]], dtype=uint8), 'depth': array([[    6.6156,       6.62,    6.6244, ...,    1.6948,    1.6853,    1.6759],
   [    6.6275,    6.6319,    6.6363, ...,    1.6958,    1.6863,    1.6769],
   [    6.6394,    6.6438,    6.6483, ...,    1.6968,    1.6873,    1.6778],
   ...,
   [    1.5793,    1.5793,    1.5793, ...,    1.5787,    1.5787,    1.5787],
   [    1.5735,    1.5735,    1.5735, ...,    1.5729,    1.5729,    1.5729],
   [    1.5677,    1.5677,    1.5677, ...,    1.5671,    1.5671,    1.5671]], dtype=float32), 'world_pose': (array([    4.2851,    9.0293,    1.2137], dtype=float32), array([ 0.092251, -0.27146, 0.026323,    0.95766]))}, 'imu_data': {'imu_time': 0.7280000448226929, 'linear_acceleration': [-0.5492033362388611, 0.012098033912479877, 9.742753028869629], 'angular_velocity': [0.0005633133696392179, -0.0006000091088935733, 0.00022891524713486433], 'orientation': [0.09588371962308884, -0.02368648536503315, 0.0024514351971447468, 0.9951076507568359]}, 'extras': {'Current_Task_ID': 'TaskTwo', 'time(minutes)': 7.27233, 'TaskOne': {'score': 30, 'details': ['Stair Climb Complete! +10 pts', 'Downhill Complete, +10 pts', 'Uneven Terrain Complete, +10 pts']}, 'TaskTwo': {'score': 0, 'details': ['Placed 0 correct and 0 incorrect objects into the container. +0 points.']}, 'TaskThree': {'score': 0, 'details': []}}, 'pick': False}
之后使用运动控制API中描述的/humanoid_change_arm_ctrl_mode更改了手臂控制模式为外部控制，通过发布/control_robot_hand_position话题来控制手指，仍未成功。

header:
seq: 628802
stamp:
secs: 0
nsecs: 0
frame_id: ''
left_hand_position: [100, 100, 80, 75, 75, 75]
right_hand_position: [0, 100, 0, 0, 0, 0]

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请问手指的控制是否可以使用以上两种方法控制，如果可以的话，有什么注意事项可能是我没有遵循才导致的失败？

作者: shine 时间: 5 小时前

action = {'arms': {'ctrl_mode': 'position', 'joint_values': array([ 0.018204, 0.01817, -0.0022679, 0.0022084, -0.00026712, 0.00026106, -0.099033, -0.09909, 1.2966e-08, -5.2288e-09, 4.1816e-08, -3.0195e-08, 9.0184e-08, 9.1642e-08]), 'stiffness': [200.0, 200.0, 200.0, 200.0, 200.0, 200.0, 200.0, 200.0, 200.0, 200.0, 200.0, 200.0, 200.0, 200.0], 'dampings': [20.2, 20.2, 20.5, 20.5, 10.2, 10.2, 20.1, 20.1, 10.1, 10.1, 10.1, 10.1, 10.1, 10.1]}, 'legs': {'ctrl_mode': 'effort', 'joint_values': array([ -2.6151, 2.3501, -0.16883, 0.15139, 1.4568, 1.4183, -20.495, -20.841, 17.408, 17.567, 0.028793, 0.030852]), 'stiffness': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'dampings': [0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2]}, 'head': {'ctrl_mode': 'position', 'joint_values': array([ 0, 0]), 'stiffness': None, 'dampings': None}, 'pick': 'left_hand'}

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