From b62ee8223e295cf3d927e3bdaf3db1dfca8e63b7 Mon Sep 17 00:00:00 2001
From: mio <mio@mio.mio>
Date: Wed, 21 Jan 2026 10:42:40 +0800
Subject: [PATCH] dl

---
 soft_arm_sim/setup.py                         |     9 +
 .../inference_node.cpython-310.pyc            |   Bin 0 -> 3483 bytes
 .../__pycache__/pinn_model.cpython-310.pyc    |   Bin 0 -> 909 bytes
 .../soft_arm_sim/deeplearning/best_model.pth  |   Bin 0 -> 139253 bytes
 .../deeplearning/best_model_v2.pth            |   Bin 0 -> 536933 bytes
 .../deeplearning/dataset_generator.py         |    89 +
 .../deeplearning/inference_node.py            |   158 +
 .../deeplearning/pcc_dataset_3sec.csv         | 50001 ++++++++++++++++
 .../soft_arm_sim/deeplearning/pinn_model.py   |    21 +
 .../soft_arm_sim/deeplearning/train.py        |   103 +
 10 files changed, 50381 insertions(+)
 create mode 100644 soft_arm_sim/soft_arm_sim/deeplearning/__pycache__/inference_node.cpython-310.pyc
 create mode 100644 soft_arm_sim/soft_arm_sim/deeplearning/__pycache__/pinn_model.cpython-310.pyc
 create mode 100644 soft_arm_sim/soft_arm_sim/deeplearning/best_model.pth
 create mode 100644 soft_arm_sim/soft_arm_sim/deeplearning/best_model_v2.pth
 create mode 100644 soft_arm_sim/soft_arm_sim/deeplearning/dataset_generator.py
 create mode 100644 soft_arm_sim/soft_arm_sim/deeplearning/inference_node.py
 create mode 100644 soft_arm_sim/soft_arm_sim/deeplearning/pcc_dataset_3sec.csv
 create mode 100644 soft_arm_sim/soft_arm_sim/deeplearning/pinn_model.py
 create mode 100644 soft_arm_sim/soft_arm_sim/deeplearning/train.py

diff --git a/soft_arm_sim/setup.py b/soft_arm_sim/setup.py
index 493c8f9..69c6f80 100644
--- a/soft_arm_sim/setup.py
+++ b/soft_arm_sim/setup.py
@@ -39,6 +39,15 @@ setup(
             
             # 测试控制器 (对应 control/test_controller.py 中的 main 函数)
             'sine_controller = soft_arm_sim.control.test_controller:main',
+
+            # 数据生成
+            'generate_data = soft_arm_sim.deeplearning.dataset_generator:main',
+
+            # 训练脚本 (可选，一般直接用 python 跑也行)
+            'train_model = soft_arm_sim.deeplearning.train:train_model',
+            
+            # 推理控制节点
+            'pinn_controller = soft_arm_sim.deeplearning.inference_node:main',
         ],
     },
 )
\ No newline at end of file
diff --git a/soft_arm_sim/soft_arm_sim/deeplearning/__pycache__/inference_node.cpython-310.pyc b/soft_arm_sim/soft_arm_sim/deeplearning/__pycache__/inference_node.cpython-310.pyc
new file mode 100644
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diff --git a/soft_arm_sim/soft_arm_sim/deeplearning/__pycache__/pinn_model.cpython-310.pyc b/soft_arm_sim/soft_arm_sim/deeplearning/__pycache__/pinn_model.cpython-310.pyc
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diff --git a/soft_arm_sim/soft_arm_sim/deeplearning/best_model.pth b/soft_arm_sim/soft_arm_sim/deeplearning/best_model.pth
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diff --git a/soft_arm_sim/soft_arm_sim/deeplearning/dataset_generator.py b/soft_arm_sim/soft_arm_sim/deeplearning/dataset_generator.py
new file mode 100644
index 0000000..3819e7b
--- /dev/null
+++ b/soft_arm_sim/soft_arm_sim/deeplearning/dataset_generator.py
@@ -0,0 +1,89 @@
+import sys
+import os
+import numpy as np
+import time
+
+# --- 自动路径修正 ---
+current_dir = os.path.dirname(os.path.abspath(__file__))
+project_root = os.path.abspath(os.path.join(current_dir, "../../"))
+if project_root not in sys.path:
+    sys.path.append(project_root)
+
+from soft_arm_sim.model.pcc_kinematics import SoftArmKinematics
+
+def generate_dataset(num_samples=50000, save_path=None):
+    """
+    生成 PCC 机械臂正运动学数据并保存为 CSV
+    """
+    print(f"🚀 开始生成数据集，目标数量: {num_samples} ...")
+    start_time = time.time()
+
+    # 1. 初始化运动学模型
+    kinematics = SoftArmKinematics(
+        num_sections=3,
+        section_length=0.24, 
+        disks_per_section=3,
+        disk_radius=0.033
+    )
+
+    # 2. 采样范围
+    theta_min, theta_max = 0.0, np.pi / 2.5
+    phi_min, phi_max = -np.pi, np.pi
+
+    # 3. 随机生成 Joint Space (Theta, Phi)
+    # Shape: (N, 6) -> [theta1, phi1, theta2, phi2, theta3, phi3]
+    q_data = np.zeros((num_samples, 6))
+    for i in range(3): 
+        q_data[:, i*2] = np.random.uniform(theta_min, theta_max, num_samples)
+        q_data[:, i*2+1] = np.random.uniform(phi_min, phi_max, num_samples)
+
+    # 4. 计算 Task Space (x, y, z)
+    # Shape: (N, 3)
+    pos_data = np.zeros((num_samples, 3))
+
+    print("🔄 正在计算正运动学 (FK)...")
+    
+    for i in range(num_samples):
+        # 构造输入
+        raw_q = q_data[i]
+        q_input = [
+            (raw_q[0], raw_q[1], 0.24),
+            (raw_q[2], raw_q[3], 0.24),
+            (raw_q[4], raw_q[5], 0.24)
+        ]
+        
+        # 正运动学解算
+        transforms, _ = kinematics.forward(q_input)
+        
+        # 取末端位置
+        pos_data[i] = transforms[-1][:3, 3]
+        
+        if (i + 1) % 10000 == 0:
+            print(f"   进度: {i + 1}/{num_samples}")
+
+    # 5. 保存为 CSV
+    if save_path is None:
+        save_path = os.path.join(current_dir, "pcc_dataset_3sec.csv")
+
+    print(f"💾 正在保存 CSV 文件...")
+
+    # 将 位置(3列) 和 角度(6列) 拼接到一起 -> 总共9列
+    # 列顺序: x, y, z, theta1, phi1, theta2, phi2, theta3, phi3
+    combined_data = np.hstack((pos_data, q_data))
+    
+    # 定义表头
+    header_str = "x,y,z,theta1,phi1,theta2,phi2,theta3,phi3"
+    
+    # 保存
+    np.savetxt(save_path, combined_data, delimiter=',', header=header_str, comments='', fmt='%.6f')
+    
+    duration = time.time() - start_time
+    print(f"✅ 完成！")
+    print(f"   耗时: {duration:.2f} 秒")
+    print(f"   保存路径: {save_path}")
+
+def main():
+    generate_dataset(num_samples=50000)
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/soft_arm_sim/soft_arm_sim/deeplearning/inference_node.py b/soft_arm_sim/soft_arm_sim/deeplearning/inference_node.py
new file mode 100644
index 0000000..8fa5bc7
--- /dev/null
+++ b/soft_arm_sim/soft_arm_sim/deeplearning/inference_node.py
@@ -0,0 +1,158 @@
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import PoseStamped, Point
+from std_msgs.msg import Float64MultiArray
+from visualization_msgs.msg import Marker
+import torch
+import numpy as np
+import time
+import threading
+import os
+import sys
+
+# --- 路径修复 ---
+current_dir = os.path.dirname(os.path.abspath(__file__))
+if current_dir not in sys.path:
+    sys.path.append(current_dir)
+project_root = os.path.abspath(os.path.join(current_dir, "../../"))
+if project_root not in sys.path:
+    sys.path.append(project_root)
+
+from pinn_model import PINN_IK
+from soft_arm_sim.model.pcc_kinematics import SoftArmKinematics
+
+class PinnController(Node):
+    def __init__(self):
+        super().__init__('pinn_controller')
+        
+        # 1. 加载模型和统计数据
+        self.device = torch.device("cpu")
+        self.model = PINN_IK().to(self.device)
+        self.stats = None # 用于存储归一化参数
+        
+        model_path = os.path.join(current_dir, "best_model_v2.pth")
+        
+        if os.path.exists(model_path):
+            checkpoint = torch.load(model_path, map_location=self.device)
+            
+            # 加载权重
+            self.model.load_state_dict(checkpoint['model_state'])
+            # 加载归一化参数
+            self.stats = checkpoint['stats']
+            
+            self.model.eval()
+            self.get_logger().info(f"✅ 模型 V2 (带归一化) 加载成功")
+        else:
+            self.get_logger().error(f"❌ 找不到模型: {model_path}，请运行新的 train.py")
+
+        self.fk_solver = SoftArmKinematics(
+            num_sections=3, section_length=0.24, disks_per_section=3, disk_radius=0.033
+        )
+
+        self.cmd_pub = self.create_publisher(Float64MultiArray, 'soft_arm/command', 10)
+        self.traj_pub = self.create_publisher(Marker, 'planned_trajectory', 10)
+        self.target_marker_pub = self.create_publisher(Marker, 'target_marker', 10)
+        self.create_subscription(PoseStamped, '/goal_pose', self.goal_callback, 10)
+        self.current_pos = np.array([0.0, 0.0, 0.72]) 
+        self.get_logger().info("等待目标指令...")
+
+    def goal_callback(self, msg):
+        target_pos = np.array([msg.pose.position.x, msg.pose.position.y, 0.5]) # 强制Z=0.5测试
+        
+        dist = np.linalg.norm(target_pos)
+        if dist > 0.72:
+            self.get_logger().warn(f"⚠️ 目标点太远 ({dist:.2f}m)，可能无法到达")
+        
+        self.get_logger().info(f"收到目标: {target_pos}，开始规划...")
+        self.visualize_target(target_pos)
+        threading.Thread(target=self.execute_move, args=(target_pos,)).start()
+
+    def preprocess_input(self, pos):
+        """ 将真实位置 (x,y,z) 归一化 """
+        if self.stats is None: return pos
+        X_mean = self.stats['X_mean']
+        X_std = self.stats['X_std']
+        return (pos - X_mean) / X_std
+
+    def postprocess_output(self, norm_angles):
+        """ 将归一化角度还原为真实角度 """
+        if self.stats is None: return norm_angles
+        y_mean = self.stats['y_mean']
+        y_std = self.stats['y_std']
+        return norm_angles * y_std + y_mean
+
+    def execute_move(self, target_pos):
+        steps = 50
+        trajectory = []
+        for t in np.linspace(0, 1, steps):
+            pt = self.current_pos + t * (target_pos - self.current_pos)
+            trajectory.append(pt)
+        self.visualize_trajectory(trajectory)
+
+        final_angles = None
+        for pt in trajectory:
+            with torch.no_grad():
+                # 1. 预处理 (归一化)
+                norm_input = self.preprocess_input(pt)
+                tensor_input = torch.FloatTensor(norm_input).to(self.device)
+                
+                # 2. 推理
+                norm_output = self.model(tensor_input).numpy()
+                
+                # 3. 后处理 (反归一化)
+                real_angles = self.postprocess_output(norm_output)
+                final_angles = real_angles
+            
+            msg = Float64MultiArray()
+            msg.data = real_angles.tolist()
+            self.cmd_pub.publish(msg)
+            time.sleep(0.04)
+            
+        self.current_pos = target_pos
+        self.get_logger().info("运动完成")
+        if final_angles is not None:
+            self.check_accuracy(target_pos, final_angles)
+
+    def check_accuracy(self, target_pos, angles):
+        q_input = []
+        for i in range(3):
+            q_input.append((angles[i*2], angles[i*2+1], 0.24))
+        transforms, _ = self.fk_solver.forward(q_input)
+        actual_pos = transforms[-1][:3, 3]
+        error = np.linalg.norm(target_pos - actual_pos)
+        
+        print("\n" + "="*30)
+        print(f"🎯 目标位置: {target_pos}")
+        print(f"🤖 实际位置: {actual_pos}")
+        print(f"❌ 误差: {error:.4f} m")
+        print("="*30 + "\n")
+    
+    # ... visualize 函数保持不变 ...
+    def visualize_target(self, pos):
+        marker = Marker()
+        marker.header.frame_id = "base_link"
+        marker.type = Marker.SPHERE; marker.action = Marker.ADD
+        marker.scale.x = 0.05; marker.scale.y = 0.05; marker.scale.z = 0.05
+        marker.color.a = 1.0; marker.color.r = 1.0; marker.color.g = 0.0; marker.color.b = 0.0
+        marker.pose.position.x = float(pos[0]); marker.pose.position.y = float(pos[1]); marker.pose.position.z = float(pos[2])
+        self.target_marker_pub.publish(marker)
+
+    def visualize_trajectory(self, points):
+        marker = Marker()
+        marker.header.frame_id = "base_link"
+        marker.type = Marker.SPHERE_LIST; marker.action = Marker.ADD
+        marker.scale.x = 0.01; marker.scale.y = 0.01; marker.scale.z = 0.01
+        marker.color.a = 1.0; marker.color.r = 1.0; marker.color.g = 1.0
+        for p in points:
+            pt = Point(); pt.x, pt.y, pt.z = float(p[0]), float(p[1]), float(p[2]); marker.points.append(pt)
+        self.traj_pub.publish(marker)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = PinnController()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/soft_arm_sim/soft_arm_sim/deeplearning/pcc_dataset_3sec.csv b/soft_arm_sim/soft_arm_sim/deeplearning/pcc_dataset_3sec.csv
new file mode 100644
index 0000000..04fd68a
--- /dev/null
+++ b/soft_arm_sim/soft_arm_sim/deeplearning/pcc_dataset_3sec.csv
@@ -0,0 +1,50001 @@
+x,y,z,theta1,phi1,theta2,phi2,theta3,phi3
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diff --git a/soft_arm_sim/soft_arm_sim/deeplearning/pinn_model.py b/soft_arm_sim/soft_arm_sim/deeplearning/pinn_model.py
new file mode 100644
index 0000000..cbae904
--- /dev/null
+++ b/soft_arm_sim/soft_arm_sim/deeplearning/pinn_model.py
@@ -0,0 +1,21 @@
+import torch
+import torch.nn as nn
+
+class PINN_IK(nn.Module):
+    def __init__(self, input_dim=3, output_dim=6):
+        super(PINN_IK, self).__init__()
+        # 升级为更深、更宽的网络
+        self.net = nn.Sequential(
+            nn.Linear(input_dim, 128),
+            nn.Tanh(),
+            nn.Linear(128, 256),
+            nn.Tanh(),
+            nn.Linear(256, 256),
+            nn.Tanh(),
+            nn.Linear(256, 128),
+            nn.Tanh(),
+            nn.Linear(128, output_dim)
+        )
+
+    def forward(self, x):
+        return self.net(x)
\ No newline at end of file
diff --git a/soft_arm_sim/soft_arm_sim/deeplearning/train.py b/soft_arm_sim/soft_arm_sim/deeplearning/train.py
new file mode 100644
index 0000000..33c3b8d
--- /dev/null
+++ b/soft_arm_sim/soft_arm_sim/deeplearning/train.py
@@ -0,0 +1,103 @@
+import torch
+import torch.nn as nn
+import torch.optim as optim
+import pandas as pd
+import numpy as np
+import os
+import sys
+from torch.utils.data import DataLoader, TensorDataset
+
+# --- 路径修复 ---
+current_dir = os.path.dirname(os.path.abspath(__file__))
+if current_dir not in sys.path:
+    sys.path.append(current_dir)
+
+from pinn_model import PINN_IK 
+
+def train_model():
+    # 1. 路径处理
+    csv_path = os.path.join(current_dir, "pcc_dataset_3sec.csv")
+    model_save_path = os.path.join(current_dir, "best_model_v2.pth")
+
+    if not os.path.exists(csv_path):
+        print("❌ 错误：找不到数据集")
+        return
+
+    # 2. 加载数据
+    print("正在加载数据...")
+    df = pd.read_csv(csv_path)
+    
+    # 分离输入输出
+    X_raw = df.iloc[:, 0:3].values.astype(np.float32) # x, y, z
+    y_raw = df.iloc[:, 3:].values.astype(np.float32) # angles
+
+    # --- 关键步骤：数据标准化 (Standardization) ---
+    # 计算均值和标准差
+    X_mean = X_raw.mean(axis=0)
+    X_std = X_raw.std(axis=0) + 1e-6 # 加一点点防止除以0
+    
+    y_mean = y_raw.mean(axis=0)
+    y_std = y_raw.std(axis=0) + 1e-6
+
+    # 归一化公式: (x - mean) / std
+    X_norm = (X_raw - X_mean) / X_std
+    y_norm = (y_raw - y_mean) / y_std
+
+    print("数据归一化完成。")
+    print(f"输入 Mean: {X_mean}, Std: {X_std}")
+
+    # 3. 准备 Tensor
+    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+    print(f"Training on: {device}")
+    
+    dataset = TensorDataset(torch.from_numpy(X_norm), torch.from_numpy(y_norm))
+    # 增加 Batch Size 提高稳定性
+    loader = DataLoader(dataset, batch_size=256, shuffle=True)
+
+    # 4. 初始化模型
+    model = PINN_IK().to(device)
+    criterion = nn.MSELoss()
+    # 使用 AdamW 优化器，效果通常更好
+    optimizer = optim.AdamW(model.parameters(), lr=0.001)
+    # 学习率衰减策略：每100个epoch学习率乘0.5
+    scheduler = optim.lr_scheduler.StepLR(optimizer, step_size=100, gamma=0.5)
+
+    # 5. 训练循环 (增加 Epoch 到 300)
+    epochs = 300 
+    print(f"开始训练 {epochs} 个 Epoch...")
+    
+    for epoch in range(epochs):
+        total_loss = 0
+        model.train()
+        
+        for batch_x, batch_y in loader:
+            batch_x, batch_y = batch_x.to(device), batch_y.to(device)
+            
+            optimizer.zero_grad()
+            outputs = model(batch_x)
+            loss = criterion(outputs, batch_y)
+            loss.backward()
+            optimizer.step()
+            total_loss += loss.item()
+        
+        scheduler.step()
+        
+        if (epoch+1) % 10 == 0:
+            avg_loss = total_loss / len(loader)
+            current_lr = optimizer.param_groups[0]['lr']
+            print(f"Epoch [{epoch+1}/{epochs}] | Loss: {avg_loss:.6f} | LR: {current_lr:.6f}")
+
+    # 6. 保存模型 + 归一化参数
+    # 我们保存一个字典，包含模型权重和数据的统计信息
+    save_dict = {
+        'model_state': model.state_dict(),
+        'stats': {
+            'X_mean': X_mean, 'X_std': X_std,
+            'y_mean': y_mean, 'y_std': y_std
+        }
+    }
+    torch.save(save_dict, model_save_path)
+    print(f"✅ 模型及元数据已保存至: {model_save_path}")
+
+if __name__ == "__main__":
+    train_model()
\ No newline at end of file