From 9e672ce637bf54e82f66fe2628a7f6497d3a21c9 Mon Sep 17 00:00:00 2001 From: m1ngsama Date: Fri, 20 Feb 2026 20:26:30 +0800 Subject: [PATCH] fix(voice_main): pass actual current_pos to execute_pick/execute_lift; add requirements.txt - Closes #3: execute_pick and execute_lift now accept an optional current_pos parameter. Callers (execute_command) pass self.current_pos so move_line starts from the actual arm position rather than a hardcoded [120, 0, 60] default. Falls back to rest position when None. - Closes #4: add requirements.txt with correct package names. Note: README listed 'openai-whisper' but the code imports faster_whisper; requirements.txt uses the correct 'faster-whisper' package name. - Replace all `servo_buffer = []` assignments with `.clear()` to stay compatible with the deque introduced in PR #8 (#6 follow-up). - Partial #5: translate Chinese print/comment strings to English in execute_pick, execute_lift, and execute_command. --- requirements.txt | 33 +++++++++++++ voice_main.py | 123 ++++++++++++++++++++++++----------------------- 2 files changed, 95 insertions(+), 61 deletions(-) create mode 100644 requirements.txt diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..029be63 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,33 @@ +# Robot Arm Voice Control System - Dependencies +# Python 3.10+ required +# +# GPU acceleration (CUDA 11.8 / 12.x) is strongly recommended. +# Install PyTorch with CUDA from: https://pytorch.org/get-started/locally/ +# Example (CUDA 12.1): +# pip install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu121 + +# --- Core scientific stack --- +numpy>=1.24 +scipy>=1.11 + +# --- Serial communication --- +pyserial>=3.5 + +# --- Computer vision --- +opencv-python>=4.8 +ultralytics>=8.0 # YOLOv8 + +# --- Audio --- +sounddevice>=0.4.6 + +# --- Speech recognition --- +faster-whisper>=1.0.0 # NOTE: this is faster-whisper, NOT openai-whisper + +# --- LLM inference --- +torch>=2.0 # install with CUDA wheels from pytorch.org +transformers>=4.40 +accelerate>=0.27 +peft>=0.10 # LoRA adapter loading + +# --- Visualization (arm_main.py demo) --- +matplotlib>=3.7 diff --git a/voice_main.py b/voice_main.py index 4274218..91654a8 100644 --- a/voice_main.py +++ b/voice_main.py @@ -500,78 +500,81 @@ class AutoGraspSystem: return rx, ry return None - def execute_pick(self, rx, ry): - """执行抓取动作""" - print(f"\n>>> 执行抓取: ({rx:.1f}, {ry:.1f})") + def execute_pick(self, rx, ry, current_pos=None): + """Execute pick action: move to target (rx, ry) and grasp. + + Args: + rx, ry: robot-frame target coordinates (mm) + current_pos: actual current end-effector position (mm, [x, y, z]). + Falls back to default rest position if None. + """ + if current_pos is None: + current_pos = np.array([120.0, 0.0, 60.0]) + Z_HOVER = 120.0 Z_GRAB = -15.0 Z_AFTER_PICK = 50.0 - + p_up = np.array([rx, ry, Z_HOVER]) p_down = np.array([rx, ry, Z_GRAB]) p_after = np.array([rx, ry, Z_AFTER_PICK]) - - # 张开夹爪 + + print(f"\n[Pick] target=({rx:.1f}, {ry:.1f}), from={current_pos}") + self.arm.gripper_control(70) self.gripper_closed = False time.sleep(0.3) - - # 【修复】清空缓冲区，确保新动作不受之前状态影响 - self.arm.servo_buffer = [] - - # 【修复】使用 move_line 从当前位置移动到目标上方（更可靠） - # 先获取当前位置的近似值 - current_approx = np.array([120.0, 0.0, 60.0]) # 默认休息位置 - self.arm.move_line(current_approx, p_up, p_start=-60, p_end=-60, duration=1.5) - - # 下降抓取 + + self.arm.servo_buffer.clear() + + self.arm.move_line(current_pos, p_up, p_start=-60, p_end=-60, duration=1.5) self.arm.move_line(p_up, p_down, p_start=-60, p_end=-90, duration=1.5) - - # 闭合夹爪 + self.arm.gripper_control(120) self.gripper_closed = True time.sleep(0.5) - - # 抬起 + self.arm.move_line(p_down, p_after, p_start=-90, p_end=-60, duration=1.0) - + return p_after - def execute_lift(self, rx, ry, height): - """执行抓取并抬起到指定高度""" - print(f"\n>>> 执行抬起: 目标({rx:.1f}, {ry:.1f}), 高度{height}mm") + def execute_lift(self, rx, ry, height, current_pos=None): + """Execute pick-and-lift: grasp target and raise by `height` mm. + + Args: + rx, ry: robot-frame target coordinates (mm) + height: lift distance above grab point (mm) + current_pos: actual current end-effector position (mm, [x, y, z]). + Falls back to default rest position if None. + """ + if current_pos is None: + current_pos = np.array([120.0, 0.0, 60.0]) + Z_HOVER = 120.0 Z_GRAB = -15.0 - + p_up = np.array([rx, ry, Z_HOVER]) p_down = np.array([rx, ry, Z_GRAB]) - p_lifted = np.array([rx, ry, Z_GRAB + height]) - p_lifted[2] = np.clip(p_lifted[2], -20, 200) - - # 张开夹爪 + p_lifted = np.array([rx, ry, np.clip(Z_GRAB + height, -20, 200)]) + + print(f"\n[Lift] target=({rx:.1f}, {ry:.1f}), height={height}mm, from={current_pos}") + self.arm.gripper_control(70) self.gripper_closed = False time.sleep(0.3) - - # 【修复】清空缓冲区 - self.arm.servo_buffer = [] - - # 【修复】使用 move_line 移动到目标上方 - current_approx = np.array([120.0, 0.0, 60.0]) - self.arm.move_line(current_approx, p_up, p_start=-60, p_end=-60, duration=1.5) - - # 下降抓取 + + self.arm.servo_buffer.clear() + + self.arm.move_line(current_pos, p_up, p_start=-60, p_end=-60, duration=1.5) self.arm.move_line(p_up, p_down, p_start=-60, p_end=-90, duration=1.5) - - # 闭合夹爪 + self.arm.gripper_control(120) self.gripper_closed = True time.sleep(0.5) - - # 抬起到指定高度 + self.arm.move_line(p_down, p_lifted, p_start=-90, p_end=-60, duration=1.5) - - print(f"✓ 已抬起到高度: Z={p_lifted[2]:.1f}mm") + + print(f"[OK] Lifted to Z={p_lifted[2]:.1f}mm") return p_lifted def execute_release(self): @@ -598,7 +601,7 @@ class AutoGraspSystem: p_drop = np.array([current_pos[0], current_pos[1], Z_TABLE]) # 【修复】清空缓冲区 - self.arm.servo_buffer = [] + self.arm.servo_buffer.clear() # 移动到放置点 # 注意：如果当前已经在桌面高度以下，不要强行移动，或者先抬升? @@ -624,7 +627,7 @@ class AutoGraspSystem: time.sleep(0.3) # 【修复】清空缓冲区 - self.arm.servo_buffer = [] + self.arm.servo_buffer.clear() # 【修复】使用 move_line 移动（更可靠） # 从一个安全的中间位置开始 @@ -753,29 +756,27 @@ class RobotApp: if action == "lift": target = cmd.get("target", "part") height = float(cmd.get("height", 50)) - + pos = self.grasp_sys.find_target(target) if pos: rx, ry = pos - # 【修复】使用正确的方法名 - self.current_pos = self.grasp_sys.execute_lift(rx, ry, height) - print(f"✓ 已抬起 {target}，当前位置: {self.current_pos}") + self.current_pos = self.grasp_sys.execute_lift(rx, ry, height, current_pos=self.current_pos) + print(f"[OK] Lifted {target}, pos={self.current_pos}") else: - print(f"✗ 未找到目标: {target}") - print(f" 当前可见目标: {list(self.grasp_sys.detected_targets.keys())}") - + print(f"[Error] Target not found: {target}") + print(f" Visible: {list(self.grasp_sys.detected_targets.keys())}") + elif action == "pick": target = cmd.get("target", "part") - + pos = self.grasp_sys.find_target(target) if pos: rx, ry = pos - # 【修复】使用正确的方法名 - self.current_pos = self.grasp_sys.execute_pick(rx, ry) - print(f"✓ 已抓取 {target}，当前位置: {self.current_pos}") + self.current_pos = self.grasp_sys.execute_pick(rx, ry, current_pos=self.current_pos) + print(f"[OK] Picked {target}, pos={self.current_pos}") else: - print(f"✗ 未找到目标: {target}") - print(f" 当前可见目标: {list(self.grasp_sys.detected_targets.keys())}") + print(f"[Error] Target not found: {target}") + print(f" Visible: {list(self.grasp_sys.detected_targets.keys())}") elif action == "move_inc": axis = cmd.get("axis", "z") @@ -816,7 +817,7 @@ class RobotApp: dist = 30.0 # 清空缓冲，确保动作连贯 - self.grasp_sys.arm.servo_buffer = [] + self.grasp_sys.arm.servo_buffer.clear() for i in range(3): # 向上 @@ -841,7 +842,7 @@ class RobotApp: dist = 30.0 # 清空缓冲 - self.grasp_sys.arm.servo_buffer = [] + self.grasp_sys.arm.servo_buffer.clear() for i in range(3): # 向左 (y增加是左)