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refactor(task_3): remove unnecessary code and update functionality

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- Remove redundant LCM initialization and file writing in main.py
- Update file paths in task_3.py to use relative paths
- Replace ctrl.Send_msg() with ctrl.Send_cmd(msg) for consistency
- Add import lcm in task_3.py
- Update main.py to focus on user gait list processing
This commit is contained in:
havoc420ubuntu 2025-05-25 18:31:29 +00:00
parent 0558ded36d
commit 952524dc63
2 changed files with 13 additions and 54 deletions
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45
task_3/main.py
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@ -29,53 +29,8 @@ robot_cmd = {
def main():
lcm_cmd = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
usergait_msg = file_send_lcmt()
cmd_msg = robot_control_cmd_lcmt()
try:
steps = toml.load("Gait_Params_up.toml")
full_steps = {'step':[robot_cmd]}
k =0
for i in steps['step']:
cmd = copy.deepcopy(robot_cmd)
cmd['duration'] = i['duration']
if i['type'] == 'usergait':
cmd['mode'] = 11 # LOCOMOTION
cmd['gait_id'] = 110 # USERGAIT
cmd['vel_des'] = i['body_vel_des']
cmd['rpy_des'] = i['body_pos_des'][0:3]
cmd['pos_des'] = i['body_pos_des'][3:6]
cmd['foot_pose'][0:2] = i['landing_pos_des'][0:2]
cmd['foot_pose'][2:4] = i['landing_pos_des'][3:5]
cmd['foot_pose'][4:6] = i['landing_pos_des'][6:8]
cmd['ctrl_point'][0:2] = i['landing_pos_des'][9:11]
cmd['step_height'][0] = math.ceil(i['step_height'][0] * 1e3) + math.ceil(i['step_height'][1] * 1e3) * 1e3
cmd['step_height'][1] = math.ceil(i['step_height'][2] * 1e3) + math.ceil(i['step_height'][3] * 1e3) * 1e3
cmd['acc_des'] = i['weight']
cmd['value'] = i['use_mpc_traj']
cmd['contact'] = math.floor(i['landing_gain'] * 1e1)
cmd['ctrl_point'][2] = i['mu']
if k == 0:
full_steps['step'] = [cmd]
else:
full_steps['step'].append(cmd)
k=k+1
f = open("Gait_Params_up_full.toml", 'w')
f.write("# Gait Params\n")
f.writelines(toml.dumps(full_steps))
f.close()
file_obj_gait_def = open("Gait_Def_up.toml",'r')
file_obj_gait_params = open("Gait_Params_up_full.toml",'r')
usergait_msg.data = file_obj_gait_def.read()
lcm_usergait.publish("user_gait_file",usergait_msg.encode())
time.sleep(0.5)
usergait_msg.data = file_obj_gait_params.read()
lcm_usergait.publish("user_gait_file",usergait_msg.encode())
time.sleep(0.1)
file_obj_gait_def.close()
file_obj_gait_params.close()
user_gait_list = open("Usergait_List.toml",'r')
steps = toml.load(user_gait_list)
for step in steps['step']:

22
task_3/task_3.py
View File

@ -4,6 +4,7 @@ import os
import toml
import copy
import math
import lcm
# 添加父目录到路径，以便能够导入utils
sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
@ -43,11 +44,14 @@ def load_gait_file(file_path):
def run_task_3(ctrl, msg):
section('任务3：步态切换', "启动")
info('开始执行任务3...', "启动")
# turn_degree(ctrl, msg, 90, absolute=True)
usergait_msg = file_send_lcmt()
lcm_usergait = ctrl.lc_s
lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
try:
steps = toml.load("Gait_Params_up.toml")
steps = toml.load("./task_3/Gait_Params_up.toml")
full_steps = {'step':[robot_cmd]}
k =0
for i in steps['step']:
@ -74,13 +78,13 @@ def run_task_3(ctrl, msg):
else:
full_steps['step'].append(cmd)
k=k+1
f = open("Gait_Params_up_full.toml", 'w')
f = open("./task_3/Gait_Params_up_full.toml", 'w')
f.write("# Gait Params\n")
f.writelines(toml.dumps(full_steps))
f.close()
file_obj_gait_def = open("Gait_Def_up.toml",'r')
file_obj_gait_params = open("Gait_Params_up_full.toml",'r')
file_obj_gait_def = open("./task_3/Gait_Def_up.toml",'r')
file_obj_gait_params = open("./task_3/Gait_Params_up_full.toml",'r')
usergait_msg.data = file_obj_gait_def.read()
lcm_usergait.publish("user_gait_file",usergait_msg.encode())
time.sleep(0.5)
@ -90,7 +94,7 @@ def run_task_3(ctrl, msg):
file_obj_gait_def.close()
file_obj_gait_params.close()
user_gait_list = open("Usergait_List.toml",'r')
user_gait_list = open("./task_3/Usergait_List.toml",'r')
steps = toml.load(user_gait_list)
for step in steps['step']:
msg.mode = step['mode']
@ -109,15 +113,15 @@ def run_task_3(ctrl, msg):
msg.ctrl_point[i] = step['ctrl_point'][i]
for i in range(2):
msg.step_height[i] = step['step_height'][i]
ctrl.Send_msg()
ctrl.Send_cmd(msg)
time.sleep( 0.1 )
for i in range(325): #15s Heat beat It is used to maintain the heartbeat when life count is not updated
ctrl.Send_msg()
ctrl.Send_cmd(msg)
time.sleep( 0.2 )
except KeyboardInterrupt:
msg.mode = 7 #PureDamper before KeyboardInterrupt:
msg.gait_id = 0
msg.duration = 0
msg.life_count += 1
ctrl.Send_msg()
ctrl.Send_cmd(msg)
pass