chenlin
3ad29356c9
集成通用机器人数值接口、本机控制桥、LeRobot 插件和统一键盘遥操作。采用离线 CoACD 全臂碰撞配方 revision 4、局部装配区切分与结构自接触，限制直接关节位姿写入并保留安全看门狗。同步版本号、变更记录、来源许可证和兼容性验证。
52 lines
2.2 KiB
Python
52 lines
2.2 KiB
Python
"""Offline CAD collisions for the fixed arm pedestal and shoulder-lift link.
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Use the same source-bound triangle clipping as the jaw recipe. Separate convex
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slices avoid spanning the pedestal's stepped silhouette or the link's full length
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with one broad hull. These are conservative parts, not triangle-mesh collisions.
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"""
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import argparse
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import json
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from pathlib import Path
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from generate_gripper_collisions import ROOT, generate
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# Original STL coordinates, millimeters; seams overlap by 1 mm.
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PARTS = [
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("base_foot", "Base_08q-v1", [(1, 1, 16.0)]),
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("base_column", "Base_08q-v1", [(1, -1, -15.0), (1, 1, 59.0)]),
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("base_crown", "Base_08q-v1", [(1, -1, -58.0)]),
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("upper_arm_end", "SO_ARM100_08k_116_Square-v1", [(0, 1, -28.0)]),
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("upper_arm_beam", "SO_ARM100_08k_116_Square-v1", [(0, -1, 29.0), (0, 1, 50.0)]),
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("upper_arm_hinge", "SO_ARM100_08k_116_Square-v1", [(0, -1, -49.0)]),
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]
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SOURCE_HASHES = {
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"Base_08q-v1.stl": "a05be37db52657615ac69423fe577979efa0cd0634a5e9546bbc85537f003172",
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"SO_ARM100_08k_116_Square-v1.stl": (
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"64fdc308759ff58756e3c39a0ea8018d6b37b551bc3d29238b6e86bc5acae666"
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),
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}
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def main():
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parser = argparse.ArgumentParser(description="从固定版本 STL 重建 LeKiwi 底座/上臂碰撞体")
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parser.add_argument("--source", type=Path, default=ROOT / "build/lekiwi/URDF/meshes")
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parser.add_argument(
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"--output", type=Path, default=ROOT / "robot_profiles/lekiwi-arm-collision.json"
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)
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parser.add_argument("--check", action="store_true", help="只验证已签入的碰撞数据可重建")
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args = parser.parse_args()
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result = generate(args.source, definitions=PARTS, source_hashes=SOURCE_HASHES, revision=3)
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if args.check:
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if json.loads(args.output.read_text()) != result:
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raise ValueError("底座/上臂碰撞数据与固定 CAD/生成器不一致")
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else:
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args.output.parent.mkdir(parents=True, exist_ok=True)
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args.output.write_text(json.dumps(result, indent=2) + "\n")
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status = "验证通过" if args.check else args.output
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print(f"LeKiwi 底座/上臂碰撞体：{len(result['parts'])} 个分段凸包，{status}")
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if __name__ == "__main__":
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main()
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