HiveCoreRD/hivecore_robot_ctrl_gui
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update arm default joint angles

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This commit is contained in:
NuoDaJia02
2026-01-08 13:14:28 +08:00
parent f6c0a6e6d6
commit 86812ba326
1 changed files with 12 additions and 23 deletions
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35
ctrlgui/ctrlgui_node.py
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@@ -376,13 +376,6 @@ def build_ui(node: CtrlGuiNode) -> None:
rebuild_now("Trigger", "bt_carry_boxes_sch1", "")
except Exception as e:
node.file_logger.error(f'Failed to trigger rebuild: {str(e)}')
ui.element().style('height: 40px')
ui.button('滚筒线 -> 车', on_click=lambda: show_confirm_dialog('把箱子从滚筒线上搬到车上?', rebuild_in)).classes('self-end')
with ui.column():
with ui.row():
pass
def rebuild_out() -> None:
try:
node.file_logger.info('Running rebuild_now...')
@@ -390,12 +383,13 @@ def build_ui(node: CtrlGuiNode) -> None:
except Exception as e:
node.file_logger.error(f'Failed to trigger rebuild: {str(e)}')
ui.element().style('height: 40px')
ui.button('车 -> 滚筒线', on_click=lambda: show_confirm_dialog('把箱子从车上搬到滚筒线上?', rebuild_out)).classes('self-end')
def rebuild_out(action_name) -> None:
try:
node.file_logger.info('Running rebuild_now...')
rebuild_now("Trigger", action_name, "")
except Exception as e:
node.file_logger.error(f'Failed to trigger rebuild: {str(e)}')
with ui.column():
with ui.row():
pass
def rebuild_cancel() -> None:
try:
node.file_logger.info('Running rebuild_now...')
@@ -404,8 +398,11 @@ def build_ui(node: CtrlGuiNode) -> None:
except Exception as e:
node.file_logger.error(f'Failed to trigger rebuild: {str(e)}')
print(f"CancelBTTask: {str(e)}")
ui.element().style('height: 40px')
# ui.button('滚筒线 -> 车', on_click=lambda: show_confirm_dialog('把箱子从滚筒线上搬到车上?', rebuild_in)).classes('self-end')
# ui.button('车 -> 滚筒线', on_click=lambda: show_confirm_dialog('把箱子从车上搬到滚筒线上?', rebuild_out)).classes('self-end')
ui.button('右臂视觉抓取', on_click=lambda: show_confirm_dialog('执行右臂视觉抓取流程?', lambda: rebuild_out("bt_vision_grasp"))).classes('self-end')
ui.button('双臂视觉抓取', on_click=lambda: show_confirm_dialog('执行双臂视觉抓取流程?', lambda: rebuild_out("bt_vision_grasp_dual_arm"))).classes('self-end')
ui.button('取消任务', on_click=lambda: show_confirm_dialog('取消任务?', rebuild_cancel)).classes('self-end')
#move home
@@ -428,13 +425,6 @@ def build_ui(node: CtrlGuiNode) -> None:
with ui.column():
# with ui.row():
gripper_width = ui.input('width(0~255)', value=0).style('width: 100px')
def rebuild_out() -> None:
try:
node.file_logger.info('Running rebuild_now...')
rebuild_now("Trigger", "bt_vision_grasp", "")
except Exception as e:
node.file_logger.error(f'Failed to trigger rebuild: {str(e)}')
def gripper_control(id) -> None:
try:
print(f"Gripper {id} Send Action Start..")
@@ -446,7 +436,6 @@ def build_ui(node: CtrlGuiNode) -> None:
# ui.element().style('height: 40px')
ui.button('控制夹爪0', on_click=lambda: show_confirm_dialog(f'确定控制夹爪0? gripper width: {gripper_width.value}', lambda: gripper_control(0))).classes('self-end')
ui.button('控制夹爪1', on_click=lambda: show_confirm_dialog(f'确定控制夹爪1? gripper width: {gripper_width.value}', lambda: gripper_control(1))).classes('self-end')
ui.button('视觉识别', on_click=lambda: show_confirm_dialog('执行视觉识别流程?', rebuild_out)).classes('self-end')
#move wheel
with ui.column():
@@ -579,9 +568,9 @@ def build_ui(node: CtrlGuiNode) -> None:
if arm_mode_select.value == 'MoveJ':
with arm_inputs_container:
with ui.row():
arm_inputs['left'] = ui.input('LEFT_ARM_JOINT: j1, j2, j3, j4, j5, j6', value='-110, -78, 0, 0, -100, -65').style('width: 250px')
arm_inputs['left'] = ui.input('LEFT_ARM_JOINT: j1, j2, j3, j4, j5, j6', value='85, 25, 90, 0, 68, 90').style('width: 250px')
with ui.row():
arm_inputs['right'] = ui.input('RIGHT_ARM_JOINT: j1, j2, j3, j4, j5, j6', value='-70, 78, 0, 0, 100, -115').style('width: 250px')
arm_inputs['right'] = ui.input('RIGHT_ARM_JOINT: j1, j2, j3, j4, j5, j6', value='95, -25, -90, 0, -68, 90').style('width: 250px')
elif arm_mode_select.value == 'MoveP':
with arm_inputs_container:
with ui.row():