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fix: Положение детали и переход к детали

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Леонид Титов 2024-12-28 17:17:17 +03:00
parent 92b0b4665b
commit 7902738290
3 changed files with 270 additions and 24 deletions
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264
params/operator_params.json
View File

@ -1,82 +1,322 @@
{
"distance_h_start_1": [
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003
],
"distance_h_start_2": [
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003
],
"distance_s_1": [
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001
],
"distance_s_2": [
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001,
0.001
],
"distance_l_1": [
0.02,
0.02
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01,
0.01
],
"distance_l_2": [
0.0325,
0.0325,
0.0325,
0.02,
0.02,
0.02,
0.02,
0.02,
0.02,
0.02,
0.02,
0.02,
0.02,
0.02
],
"distance_h_end1": [
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003
],
"distance_h_end2": [
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003,
0.003
],
"object_position": [
0.02,
0.01
0.02743,
0.0249,
0.024,
0.02425,
0.0225,
0.0233,
0.0226,
0.02442,
0.02357,
0.02321,
0.02464,
0.02745,
0.02321,
0.021348
],
"time_wielding": [
1.332,
1.644
1.644,
1.644,
1.428,
1.284,
1.308,
1.272,
1.38,
1.416,
1.392,
1.38,
1.404,
1.452,
1.452
],
"time_command": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"time_robot_movement": [
0.14,
0.331
0.314,
0.331,
0.356,
0.428,
0.418,
0.454,
0.458,
0.44,
0.49,
0.47,
0.44,
0.425,
0.464,
0.5
],
"object_thickness": [
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045,
0.0045
],
"force_target": [
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0,
5000.0
],
"force_capture": [
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0,
500.0
],
"Tesla closing": [
0.216,
0.228
0.228,
0.252,
0.216,
0.228,
0.216,
0.228,
0.228,
0.228,
0.216,
0.228,
0.216,
0.216,
0.216
],
"Tesla squeeze": [
0.276,
0.288
0.288,
0.264,
0.264,
0.276,
0.276,
0.312,
0.276,
0.24,
0.24,
0.24,
0.24,
0.24,
0.24
],
"Tesla welding": [
1.332,
1.644
1.644,
1.644,
1.428,
1.284,
1.308,
1.272,
1.38,
1.416,
1.392,
1.38,
1.404,
1.452,
1.452
],
"Tesla oncomming_relief": [
0.528,
0.528
0.528,
0.54,
0.636,
0.504,
0.468,
0.492,
0.54,
0.563,
0.588,
0.541,
0.564,
0.576,
0.507
],
"Tesla summary time": [
2.34,
2.652
2.652,
2.796,
2.4,
2.208,
2.34,
2.256,
2.544,
2.405,
2.405,
2.358,
2.37,
2.442,
1.908
]
}

10
params/system_params.json
View File

@ -6,16 +6,16 @@
1000.0
],
"a_max_1": [
10.0
7.96
],
"v_max_1": [
0.25
0.499
],
"a_max_2": [
50.0
35.81
],
"v_max_2": [
1.0
0.75
],
"mass_1": [
270.0
@ -57,6 +57,6 @@
1000.0
],
"gun_range": [
100.0
112.5
]
}

20
src/controller/passportFormer.py
View File

@ -62,11 +62,11 @@ class PassportFormer(BasePointPassportFormer):
points_pocket = []
system_settings = {key: value[0] for key, value in self._params[1].items()}
tesla_time = sum(self._params[0].get("Tesla summary time", []))
useful_data = {"tesla_time": tesla_time,
"range": system_settings["gun_range"],
"k_hardness": system_settings["k_hardness_1"],
}
useful_data = {
"tesla_time": tesla_time,
"range": system_settings["gun_range"],
"k_hardness": system_settings["k_hardness_1"]
}
for i in range(point_quantity):
operator_settings = {
@ -82,8 +82,14 @@ class PassportFormer(BasePointPassportFormer):
for key, value in self._params[0].items()
}
displacement_me = -0.01
displacement_fe = -0.01
P1 = operator_settings["object_position"] + 0.5*operator_settings["object_thickness"]
P2 = operator_settings["object_position"] - 0.5*operator_settings["object_thickness"]
next_P1 = next_operator_settings["object_position"] + 0.5*next_operator_settings["object_thickness"]
next_P2 = next_operator_settings["object_position"] - 0.5*next_operator_settings["object_thickness"]
displacement_me = next_P1 - P1
displacement_fe = next_P2 - P2
operator_settings["distance_h_end1"] -= displacement_fe
operator_settings["distance_h_end2"] += displacement_me