Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software

Commented jupytr notebook
2024-03-05 16:30:26 -06:00 · 2024-03-05 16:30:19 -06:00 · 2024-03-05 16:27:48 -06:00 · 2024-03-05 16:21:07 -06:00 · 2024-03-05 16:20:11 -06:00 · 2024-03-05 16:20:05 -06:00
10 changed files with 754 additions and 52 deletions
@@ -0,0 +1,11 @@
+FROM python:latest
+
+RUN apt-get update && apt-get install -y libgl1-mesa-glx ghostscript && apt-get clean && rm -rf /var/lib/apt/lists
+COPY . .
+#COPY config-server.yml config.yml
+RUN pip3 install -r requirements.txt
+
+CMD ["python3", "run.py"]
+EXPOSE 5000
+EXPOSE 8000
+EXPOSE 9000
@@ -32,13 +32,13 @@ led:
      ledstart: 288
      ledend: 431
      mode: rgb
-    - universe: 1
-      ip: 192.168.68.130
+    - universe: 4
+      ip: 192.168.5.40
      ledstart: 432
      ledend: 575
      mode: rgb
-    - universe: 4
-      ip: 192.168.68.131
+    - universe: 1
+      ip: 192.168.5.4
      ledstart: 576
      ledend: 719
      mode: rgb
@@ -26,7 +26,7 @@ def check_internet(url='https://belden.com', timeout=5):
    


-def query_search(partnum):
+def query_search(partnum, source):
    """token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
    with requests.get(token_url) as r:
        out = json.loads(r.content)
@@ -49,7 +49,7 @@ def query_search(partnum):
    # Bash script uses some crazy json formatting that I could not figure out
    # Despite the fact that I wrote it
    # So I'll just leave it, becuase it works.
-
+    if source == "Belden":
        command = ["./query-search.sh", partnum]
        result = subprocess.run(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
        if result.returncode != 0: # error
@@ -58,6 +58,41 @@ def query_search(partnum):
        else:
            data_out = json.loads(result.stdout)
            return data_out
+    elif source == "Alphawire":
+        alphaurl = "https://www.alphawire.com//sxa/search/results/?l=en&s={4A774076-6068-460C-9CC6-A2D8E85E407F}&itemid={BF82F58C-EFD9-4D8B-AE3E-097DD12CF7DA}&sig=&autoFireSearch=true&productpartnumber=*" + partnum + "*&v={B22CD56D-AB95-4048-8AA1-5BBDF2F2D17F}&p=10&e=0&o=ProductPartNumber%2CAscending"
+        r = requests.get(url=alphaurl)
+        data = r.json()
+        output = dict()
+        #print(data)
+        try:
+            if data["Count"] > 0:
+                print(data["Results"][0]["Url"])
+                result = data["Results"][0]
+                if result["Url"].split("/")[-1] == partnum:
+                    #print(partnum)
+                    print(result["Html"])
+                    try:
+                        imgidx = result["Html"].index("<img src=") + 10
+                        imgidx2 = result["Html"].index("?", imgidx)
+                        output["image"] = result["Html"][imgidx:imgidx2]
+                        if output["image"].index("http") != 0:
+                            output["image"] = ""
+                            print("No cable image found.")
+                    except:
+                        print("No cable image found.")
+
+                    dsidx = result["Html"].index("<a href=\"/disteAPI/") + 9
+                    dsidx2 = result["Html"].index(partnum, dsidx) + len(partnum)
+                    output["datasheet"] = "https://www.alphawire.com" + result["Html"][dsidx:dsidx2]
+                    #"test".index()
+                    print(output)
+                    return output
+
+
+        except:
+            return False
+        return False
+

 def touch(path):
    with open(path, 'a'):
@@ -126,7 +161,7 @@ def get_multi(partnums):
                sys.exit()


-        def _download_image(url, output_dir): # Download datasheet with known URL
+        def _download_image(url, output_dir): # Download image with known URL
            global bartext

            #fprint(url)
@@ -151,25 +186,31 @@ def get_multi(partnums):
                os.remove(partnum + "/datasheet.pdf")
                sys.exit()

-        def __use_cached_datasheet(partnum, path, output_dir):
+        def __use_cached_datasheet(partnum, path, output_dir, dstype):
            fprint("Using cached datasheet for " + partnum)
            bar.text = "Using cached datasheet for " + partnum
            bar(skipped=True)
            fprint("Parsing Datasheet contents of " + partnum)
            bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            read_datasheet.parse(path, output_dir)
+            read_datasheet.parse(path, output_dir, partnum, dstype)
            bar(skipped=False)

-        def __downloaded_datasheet(partnum, path, output_dir):
+        def __downloaded_datasheet(partnum, path, output_dir, dstype):
            fprint("Downloaded " + path)
            bar.text = "Downloaded " + path
            bar(skipped=False)
            fprint("Parsing Datasheet contents of " + partnum)
            bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            read_datasheet.parse(path, output_dir)
+            read_datasheet.parse(path, output_dir, partnum, dstype)
            bar(skipped=False)

-        for partnum in partnums:
+        for fullpartnum in partnums:
+            if fullpartnum[0:2] == "BL": # catalog.belden.com entry\
+                partnum = fullpartnum[2:]
+                dstype = "Belden"
+            elif fullpartnum[0:2] == "AW":
+                partnum = fullpartnum[2:]
+                dstype = "Alphawire"
            output_dir = "cables/" + partnum
            path = output_dir + "/datasheet.pdf"
            bartext = "Downloading files for part " + partnum
@@ -177,7 +218,7 @@ def get_multi(partnums):
            #
            if (not os.path.exists(output_dir + "/found_part_hires")) or not (os.path.exists(path) and os.path.getsize(path) > 1):
                # Use query
-                search_result = query_search(partnum.replace(" ", ""))
+                search_result = query_search(partnum.replace(" ", ""), dstype)
                # Try to use belden.com search
                if search_result is not False:
                    # Download high resolution part image if available and needed
@@ -190,17 +231,17 @@ def get_multi(partnums):

                    # Download datasheet from provided URL if needed
                    if os.path.exists(path) and os.path.getsize(path) > 1:
-                        __use_cached_datasheet(partnum, path, output_dir)
+                        __use_cached_datasheet(partnum, path, output_dir, dstype)

                    elif _download_datasheet(search_result["datasheet"], output_dir) is not False:
-                        __downloaded_datasheet(partnum, path, output_dir)
+                        __downloaded_datasheet(partnum, path, output_dir, dstype)
                
                elif os.path.exists(path) and os.path.getsize(path) > 1:
-                    __use_cached_datasheet(partnum, path, output_dir)
+                    __use_cached_datasheet(partnum, path, output_dir, dstype)
                
                # If search fails, and we don't already have the datasheet, guess datasheet URL and skip the hires image download
                elif _try_download_datasheet(partnum, output_dir) is not False:
-                    __downloaded_datasheet(partnum, path, output_dir)
+                    __downloaded_datasheet(partnum, path, output_dir, dstype)

                # Failed to download with search or guess :(
                else: 
@@ -213,7 +254,7 @@ def get_multi(partnums):
            # We already have a hi-res image and the datasheet - perfect!
            else:
                fprint("Using cached hi-res part image for " + partnum)
-                __use_cached_datasheet(partnum, path, output_dir)
+                __use_cached_datasheet(partnum, path, output_dir, dstype)
    
    if len(failed) > 0:
        fprint("Failed to download:")
@@ -227,21 +268,22 @@ def get_multi(partnums):


 if __name__ == "__main__":
-    partnums = ["10GXS12", "RST 5L-RKT 5L-949", 
-"10GXS13",
-"10GXW12",
-"10GXW13",
-"2412",
-"2413",
-"OSP6AU",
-"FI4D024P9",
-"FISD012R9",
-"FDSD012A9",
-"FSSL024NG",
-"FISX006W0",
-"FISX00103",
-"C6D1100007"
+    partnums = ["BL7958A", "BL10GXS12", "BLRST 5L-RKT 5L-949", 
+"BL10GXS13",
+"BL10GXW12",
+"BL10GXW13",
+"BL2412",
+"BL2413",
+"BLOSP6AU",
+"BLFI4D024P9",
+"BLFISD012R9",
+"BLFDSD012A9",
+"BLFSSL024NG",
+"BLFISX006W0",
+"BLFISX00103",
+"BLC6D1100007"
    ]
    get_multi(partnums)
+    #query_search("3248", "Alphawire")


@@ -0,0 +1,359 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Inverse Kinematics Simulation"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from scipy.optimize import fsolve\n",
+    "import matplotlib.pyplot as plt\n",
+    "import math\n",
+    "import numpy as np"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Polar coordinate functions"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def cartesian_to_polar(x, y):\n",
+    "    r = np.sqrt(x**2 + y**2)\n",
+    "    theta = np.arctan2(y, x)\n",
+    "    return r, theta\n",
+    "\n",
+    "def polar_to_cartesian(r, theta):\n",
+    "    x = r * np.cos(theta)\n",
+    "    y = r * np.sin(theta)\n",
+    "    return x, y"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Calculate end-joint values from xyz position"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 157,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "[45.0, 90.70951422006029, 110.71500355039022, -20.005489330329944]\n",
+      "[45.0, -90.70951422006029, 110.71500355039022, -110.00548933032994]\n"
+     ]
+    }
+   ],
+   "source": [
+    "def normalize_degree(theta):\n",
+    "    # Normalizes degree theta from -1.5pi to 1.5pi\n",
+    "    multiplier = 1.5\n",
+    "    normalized_theta = theta % (math.pi * multiplier)\n",
+    "    \n",
+    "    # Maintain the negative sign if the original angle is negative\n",
+    "    if theta < 0:\n",
+    "        normalized_theta -= math.pi * multiplier\n",
+    "\n",
+    "    # Return angle\n",
+    "    return normalized_theta\n",
+    "\n",
+    "def get_joints_from_xyz_rel(x, y, z, initial_guess = (math.pi/2, math.pi/2, 0), limbs=(.422864, .359041, .092124)):\n",
+    "    # Get polar coordinates of x,y pair\n",
+    "    r, theta = cartesian_to_polar(x, y)\n",
+    "    \n",
+    "    # Get length of each limb\n",
+    "    l1, l2, l3 = limbs\n",
+    "    \n",
+    "    # Formulas to find out joint positions for (r, z)\n",
+    "    def inv_kin_r_z(p):\n",
+    "        a, b, c = p\n",
+    "\n",
+    "        return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r\n",
+    "                l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - z,  # z\n",
+    "                a-b-c) # wrist angle\n",
+    "\n",
+    "\n",
+    "    # Normalize angles\n",
+    "    base, shoulder, elbow, wrist = [normalize_degree(deg) for deg in [theta, *fsolve(inv_kin_r_z, initial_guess)]]\n",
+    "\n",
+    "    # Return result\n",
+    "    return base, shoulder, elbow, wrist\n",
+    "\n",
+    "def get_joints_from_xyz_abs(x, y, z):\n",
+    "    joints = get_joints_from_xyz_rel(x, y, z)\n",
+    "\n",
+    "    # Joint offsets\n",
+    "    # Base, Shoulder, Elbow, Wrist\n",
+    "    inverse = [1, -1, 1, 1]\n",
+    "    offsets = [0, 0, 0, -math.pi/2]\n",
+    "\n",
+    "    # Return adjusted joint positions\n",
+    "    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]\n",
+    "\n",
+    "print([math.degrees(deg) for deg in get_joints_from_xyz_rel(0.3, 0.3, 0.3)])\n",
+    "print([math.degrees(deg) for deg in get_joints_from_xyz_abs(0.3, 0.3, 0.3)])"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Simulate arm and joint angles"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 164,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): 0.3 0.3 0.3\n",
+      "Angles (base, shoulder, elbow, wrist): [45.0, 90.7095, 110.715, -20.0055]\n",
+      "Robot Angles: [45.0, -90.7095, 110.715, -110.0055]\n",
+      "elbow (x,y): -0.005 0.423\n",
+      "wrist (x,y): 0.332 0.3\n",
+      "tool  (x,y): 0.424 0.3\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": 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truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "def draw_arm(x, y, z):\n",
+    "\n",
+    "    # Get joint angles\n",
+    "    l1, l2, l3 = (.422864, .359041, .092124)\n",
+    "    r, theta = cartesian_to_polar(x, y)\n",
+    "    base, shoulder, elbow, wrist = get_joints_from_xyz_rel(x, y, z)\n",
+    "\n",
+    "    # Print angles\n",
+    "    print('Target position (x,y,z):', x, y, z)\n",
+    "    print('Angles (base, shoulder, elbow, wrist):', [round(math.degrees(i), 4) for i in [base, shoulder, elbow, wrist]])\n",
+    "    print('Robot Angles:', [round(math.degrees(i), 4) for i in get_joints_from_xyz_abs(x, y, z)])\n",
+    "\n",
+    "    # Calculate each joint's endpoint position\n",
+    "    x1, y1 = polar_to_cartesian(l1, shoulder)\n",
+    "    x2, y2 = polar_to_cartesian(l2, shoulder-elbow)\n",
+    "    x2 += x1\n",
+    "    y2 += y1\n",
+    "    x3, y3 = polar_to_cartesian(l3, shoulder-elbow-wrist)\n",
+    "    x3 += x2\n",
+    "    y3 += y2\n",
+    "\n",
+    "    # Print each joint's endpoint position\n",
+    "    print('elbow (x,y):', round(x1,3), round(y1,3))\n",
+    "    print('wrist (x,y):', round(x2,3), round(y2,3))\n",
+    "    print('tool  (x,y):', round(x3,3), round(y3,3))\n",
+    "\n",
+    "    # Draw limbs\n",
+    "    plt.plot([0, x1], [0, y1], color='cyan', linewidth=7)\n",
+    "    plt.plot([x1, x2], [y1, y2], color='orange', linewidth=7)\n",
+    "    plt.plot([x2, x2+l3], [y2, y2], color='red', linewidth=7)\n",
+    "\n",
+    "    # Display angles\n",
+    "    plt.text(0, 0.02, f'{round(math.degrees(shoulder), 2)}°')\n",
+    "    plt.text(x1, y1+0.02, f'{round(math.degrees(elbow), 2)}°')\n",
+    "    plt.text(x2, y2+0.02, f'{round(math.degrees(wrist), 2)}°')\n",
+    "\n",
+    "    # Display r arrow\n",
+    "    plt.annotate(f'', xy=(0, 0), xycoords='data', xytext=(x3, 0), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
+    "    plt.annotate(f'r={round(r,4)}', xy=(x2/2, 0.01), xycoords='data', xytext=(x2/2, 0), textcoords='offset points')\n",
+    "\n",
+    "    # Display z arrow\n",
+    "    plt.annotate(f'', xy=(x3, 0), xycoords='data', xytext=(x3, y3), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
+    "    plt.annotate(f'z={round(y2,4)}', xy=(x3+0.01, y2/2), xycoords='data', xytext=(x3/2, 0), textcoords='offset points')\n",
+    "   \n",
+    "    # Display plot\n",
+    "    ax = plt.subplot(111)\n",
+    "    ax.spines[['right', 'top']].set_visible(False)\n",
+    "    plt.axis('equal')\n",
+    "    plt.show()\n",
+    "\n",
+    "draw_arm(0.3, 0.3, 0.3)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 165,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): 0.3 0.3 0.3\n",
+      "Angles (base, shoulder, elbow, wrist): [45.0, 90.7095, 110.715, -20.0055]\n",
+      "Robot Angles: [45.0, -90.7095, 110.715, -110.0055]\n",
+      "elbow (x,y): -0.005 0.423\n",
+      "wrist (x,y): 0.332 0.3\n",
+      "tool  (x,y): 0.424 0.3\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": "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 truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): -0.3 -0.3 0.7\n",
+      "Angles (base, shoulder, elbow, wrist): [-135.0, 71.7346, 15.5104, 56.2242]\n",
+      "Robot Angles: [-135.0, -71.7346, 15.5104, -33.7758]\n",
+      "elbow (x,y): 0.133 0.402\n",
+      "wrist (x,y): 0.332 0.7\n",
+      "tool  (x,y): 0.424 0.7\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": "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 truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): -0.3 0.4 0.2\n",
+      "Angles (base, shoulder, elbow, wrist): [126.8699, 74.2826, 109.5002, -35.2176]\n",
+      "Robot Angles: [126.8699, -74.2826, 109.5002, -125.2176]\n",
+      "elbow (x,y): 0.115 0.407\n",
+      "wrist (x,y): 0.408 0.2\n",
+      "tool  (x,y): 0.5 0.2\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": "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 truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "draw_arm(0.3, 0.3, 0.3)\n",
+    "draw_arm(-0.3, -0.3, 0.7)\n",
+    "draw_arm(-0.3, 0.4, 0.2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Interactive Arm"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 160,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "5617bc9f737949c4bc84c787ff88ce16",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "interactive(children=(FloatSlider(value=0.3, description='x', max=1.0, step=0.01), FloatSlider(value=0.3, desc…"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "data": {
+      "text/plain": [
+       "<function __main__.draw_arm(x, y, z)>"
+      ]
+     },
+     "execution_count": 160,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "from ipywidgets import interact, FloatSlider\n",
+    "\n",
+    "# Interactive slider for z coordinate\n",
+    "interact(draw_arm,  x=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
+    "                    y=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
+    "                    z=FloatSlider(min=0, max=1, step=0.01, value=0.3))\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.4"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
@@ -178,9 +178,9 @@ def init():
    sendall(data)
    #time.sleep(50000)    
    fprint("Running start-up test sequence...")
-    for y in range(1):
+    for y in range(100):
        for x in range(len(leds)):
-            setpixel(5,5,5,x)
+            setpixel(0,0,150,x)
        sendall(data)
        #time.sleep(2)
        #alloffsmooth()
@@ -290,7 +290,7 @@ def close():
    time.sleep(0.5)
    sender.stop()

-def mapimage(image, fps=60):
+def mapimage(image, fps=90):
    global start
    while uptime() - start < 1/fps:
        time.sleep(0.00001)
@@ -9,8 +9,10 @@ from PIL import Image
 import io
 import json
 from util import fprint
+import uuid
+from util import run_cmd

-def parse(filename, output_dir):
+def parse(filename, output_dir, partnum, dstype):

    # Extract table data

@@ -22,6 +24,7 @@ def parse(filename, output_dir):
    page = reader.pages[0]
    table_list = {}
    for table in tables:
+        table.df.infer_objects(copy=False)
        table.df.replace('', np.nan, inplace=True)
        table.df.dropna(inplace=True, how="all")
        table.df.dropna(inplace=True, axis="columns", how="all")
@@ -137,6 +140,7 @@ def parse(filename, output_dir):


        # multi-page table check
+        if dstype == "Belden":
            if table_name.isdigit() and len(tables) > 1:
                fprint(table_name)
                fprint(previous_table)
@@ -163,18 +167,77 @@ def parse(filename, output_dir):

        previous_table = table_name
    
+    # remove multi-line values that occasionally squeak through
+    def replace_newlines_in_dict(d):
+        for key, value in d.items():
+            if isinstance(value, str):
+                # Replace \n with " " if the value is a string
+                d[key] = value.replace('\n', ' ')
+            elif isinstance(value, dict):
+                # Recursively call the function if the value is another dictionary
+                replace_newlines_in_dict(value)
+        return d
    
-    fprint(tables)
-    with open(output_dir + "/tables.json", 'w') as json_file:
-        json.dump(tables, json_file)
+    tables = replace_newlines_in_dict(tables)
+
+    # summary
+
+    output_table = dict()
+    output_table["partnum"] = partnum
+    id = str(uuid.uuid4())
+    output_table["id"] = id
+    #output_table["position"] = id
+    #output_table["brand"] = brand
+    output_table["fullspecs"] = tables
+    output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
+    
+    output_table["searchspecs"]["id"] = id
    


+    print(output_table)
+
+    run_cmd("rm " + output_dir + "/*.json") # not reliable!
+    with open(output_dir + "/" + output_table["searchspecs"]["id"] + ".json", 'w') as json_file:
+        json.dump(output_table["searchspecs"], json_file)
+
+    return output_table


-    return tables
+def flatten(tables):
+    def convert_to_number(s):
+        try:
+            # First, try converting to an integer.
+            return int(s)
+        except ValueError:
+            # If that fails, try converting to a float.
+            try:
+                return float(s)
+            except ValueError:
+                # If it fails again, return the original string.
+                return s
+    out = dict()
+    print("{")
+    for table in tables.keys():
+        for key in tables[table].keys():
+            if len(key) < 64:
+                keyname = key
+            else:
+                keyname = key[0:64]
+
+            fullkeyname = (table + ": " + keyname).replace(".","")
+            if type(tables[table][key]) is not tuple:
+                out[fullkeyname] = convert_to_number(tables[table][key])
+                print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+            elif len(tables[table][key]) == 1:
+                out[fullkeyname] = convert_to_number(tables[table][key][0])
+                
+                print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+
+    print("}")
+    return out

    

 if __name__ == "__main__":
-    parse("test2.pdf", "10GXS13")
+    parse("test2.pdf", "cables/10GXS13", "10GXS13")
@@ -5,13 +5,15 @@ pypdf2==2.12.1
 alive-progress
 requests
 git+https://github.com/Byeongdulee/python-urx.git
-psycopg2
+psycopg2-binary
 pyyaml
 Flask
 selenium
 sacn
 uptime
 websockets
+numpy
+scipy

 # Development
 matplotlib
@@ -1,6 +1,8 @@
 import urx
 import math3d as m3d
+from scipy.optimize import fsolve
 import math
+import numpy as np
 import time
 import os
 import logging
@@ -8,6 +10,9 @@ from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
 import sys
 from util import fprint

+
+
+
 rob = None


@@ -45,7 +50,7 @@ def init(ip):
    time.sleep(0.2)
    fprint("UR5 ready.")

-def set_pos_abs(x, y, z, xb, yb, zb):
+def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
    global rob
    new_orientation = m3d.Transform()
    new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
@@ -60,7 +65,7 @@ def set_pos_abs(x, y, z, xb, yb, zb):
    new_trans.pos.y = y
    new_trans.pos.z = z
    #rob.speedj(0.2, 0.5, 99999)
-    rob.set_pose(new_trans, acc=2, vel=2, command="movej")  # apply the new pose
+    rob.set_pose(new_trans, acc=2, vel=2, command="movej", threshold=threshold)  # apply the new pose

 def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
    global rob
@@ -80,21 +85,241 @@ def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
    #rob.speedj(0.2, 0.5, 99999)
    rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose

+def set_pos_abs_rot_rel(x, y, z, xb, yb, zb):
+    global rob
+    new_orientation = m3d.Transform()
+    new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
+    new_orientation.orient.rotate_yb(yb)  # Replace ry with the desired rotation around Y-axis
+    new_orientation.orient.rotate_zb(zb)  # Replace rz with the desired rotation around Z-axis
+
+    # Get the current pose
+    trans = rob.getl()
+    
+    # Apply the new orientation while keeping the current position
+    new_trans = m3d.Transform(new_orientation.orient, m3d.Vector(trans[0:3]))
+    new_trans.pos.x = x
+    new_trans.pos.y = y
+    new_trans.pos.z = z
+    #rob.speedj(0.2, 0.5, 99999)
+    rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose


+def is_safe_move(start_pose, end_pose, r=0.25):
+    start_x, start_y = (start_pose[0], start_pose[1])
+    end_x, end_y = (end_pose[0], end_pose[1])
+
+    try:
+        m = (end_y-start_y)/(end_x-start_x)
+        b = start_y - m*start_x
+        # print('m = y/x =', m)
+        # print('b =', b)
+    except:
+        m = (end_x-start_x)/(end_y-start_y)
+        b = start_x - m*start_y
+        # print('m = x/y =', m)
+        # print('b =', b)
+    
+    return r**2 - b**2 + m**2 * r**2 < 0
+
+def cartesian_to_polar(x, y):
+    r = np.sqrt(x**2 + y**2)
+    theta = np.arctan2(y, x)
+    return r, theta
+
+def polar_to_cartesian(r, theta):
+    x = r * np.cos(theta)
+    y = r * np.sin(theta)
+    return x, y
+
+
+def move_to_polar(start_pos, end_pos):
+    global rob
+
+    # Convert to polar coordinates
+    start_r, start_theta = cartesian_to_polar(start_pos[0], start_pos[1])
+    end_r, end_theta = cartesian_to_polar(end_pos[0], end_pos[1])
+
+    # Interpolate for xy (spiral arc)
+    n_points = 30
+    r_intermediate = np.linspace(start_r, end_r, n_points)
+    theta_intermediate = np.linspace(start_theta, end_theta, n_points)
+
+    # Interpolate for z (height)
+    start_z = start_pos[2]
+    end_z = end_pos[2]
+
+    z_intermediate = np.linspace(start_z, end_z, n_points)
+
+    # Interpolate for rz (keep tool rotation fixed relative to robot)
+
+
+    curr_rot = rob.getl()
+
+    theta_delta = theta_intermediate[1]-theta_intermediate[0]
+    
+    rx_intermediate = [curr_rot[5] + theta_delta*i for i in range(n_points)]
+
+    # curr_rot = rob.getj()
+    # start_rz = curr_rot[5]
+    # rot = end_theta - start_theta
+    # end_base_joint = curr_rot[0]-start_theta + rot
+
+    # end_rz = curr_rot[0] + rot
+    # # rob.movel([*polar_to_cartesian(end_r, end_theta), *rob.getl()[2:]], acc=2, vel=2)
+
+    # print('start_theta = ', math.degrees(start_theta))
+    # print('end_theta = ', math.degrees(curr_rot[0]-start_theta+rot))
+    # print('start_rz =', math.degrees(start_rz))
+    # print('rot =', math.degrees(rot))
+    # print('end_rz =', math.degrees(end_rz))
+
+    # rz_intermediate = np.linspace(start_rz, end_rz, n_points)
+
+    # Convert back to cartesian coordinates
+    curr_pos = rob.getl()
+
+    intermediate_points = [[*polar_to_cartesian(r, theta), z, *curr_pos[3:]]
+                            for r, theta, z, rx in zip(r_intermediate, 
+                                                       theta_intermediate, 
+                                                       z_intermediate, 
+                                                       rx_intermediate)]
+
+    # Move robot
+    rob.movels(intermediate_points, acc=2, vel=2, radius=0.1)
+    
+
+    return rx_intermediate
+
+def move_to_home():
+    global rob
+
+    # Home position in degrees
+    home_pos = [0.10421807948612624, 
+                -2.206111555015423, 
+                1.710679229503537, 
+                -1.075834511928354, 
+                -1.569301366430687, 
+                1.675098295930943]
+
+    # Move robot
+    rob.movej(home_pos, acc=2, vel=2)
+
+def normalize_degree(theta):
+    # Normalizes degree theta from -1.5pi to 1.5pi
+    multiplier = 1
+    normalized_theta = theta % (math.pi * multiplier)
+    
+    # Maintain the negative sign if the original angle is negative
+    if theta < 0:
+        normalized_theta -= math.pi * multiplier
+
+    # Return angle
+    return normalized_theta
+
+def get_joints_from_xyz_rel(x, y, z, initial_guess = (math.pi/2, math.pi/2, 0), limbs=(.422864, .359041, .092124)):
+    # Get polar coordinates of x,y pair
+    r, theta = cartesian_to_polar(x, y)
+    
+    # Get length of each limb
+    l1, l2, l3 = limbs
+    
+    # Formulas to find out joint positions for (r, z)
+    def inv_kin_r_z(p):
+        a, b, c = p
+
+        return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r
+                l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - z,  # z
+                a-b-c) # wrist angle
+
+
+    # Normalize angles
+    base, shoulder, elbow, wrist = [normalize_degree(deg) for deg in [theta, *fsolve(inv_kin_r_z, initial_guess)]]
+
+    # Return result
+    return base, shoulder, elbow, wrist
+
+def get_joints_from_xyz_abs(x, y, z):
+    joints = get_joints_from_xyz_rel(x, y, z)
+
+    # Joint offsets
+    # Base, Shoulder, Elbow, Wrist
+    inverse = [1, -1, 1, 1]
+    offsets = [0, 0, 0, -math.pi/2]
+
+    # Return adjusted joint positions
+    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]

 if __name__ == "__main__":
    
    #rob.movej((0, 0, 0, 0, 0, 0), 0.1, 0.2)
    #rob.movel((x, y, z, rx, ry, rz), a, v)
    init("192.168.1.145")
-    fprint("Current tool pose is: ",  rob.getl())
-    #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
-    set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
-    set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
-    set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
-    #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
-    fprint("Current tool pose is: ",  rob.getl())
+    print("Current tool pose is: ",  rob.getl())
+    move_to_home()
+
+    home_pose = [-0.4999999077032916, 
+               -0.2000072960336574, 
+               0.40002172976662786, 
+               0, 
+               -3.14152741295329, 
+               0]
+
+    # time.sleep(.5)
+
+    p1 = [0,
+
+        0.6,
+        .4,
+        0.2226,
+        3.1126,
+        0.0510]
+    
+    p2 = [0.171,
+        -0.115,
+        0.2,
+        0.2226,
+        3.1126,
+        0.0510]
+
+    curr_pos = rob.getl()
+    # up/down, 
+    # tool rotation
+    # tool angle (shouldn't need)
+    # rob.set_pos(p1[0:3], acc=0.5, vel=0.5)
+
+    # set_pos_abs(*home_pose)
+
+
+    angles = get_joints_from_xyz_abs(0.3, 0.3, 0.3)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+    
+    angles = get_joints_from_xyz_abs(-0.3, -0.3, 0.7)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+    
+    angles = get_joints_from_xyz_abs(-0.3, 0.4, 0.2)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+
+
+    # set_pos_abs(*p1)
+    # move = move_to_polar(p1, p2)
+
+
+    # for p in move:
+    #     print(math.degrees(p))
+    # print("Safe? :", is_safe_move(p1, p2))
+
+
+    # #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
+    # set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
+    # set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
+    # set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
+    # #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
+
+    # print("Current tool pose is: ",  rob.getl())
+    # print("getj(): ",  rob.getj())
+
+    # move_to_home()
+
    rob.stop()
    os.kill(os.getpid(), 9) # dirty kill of self
    sys.exit(0)
@@ -123,7 +123,7 @@ class Logger(object):
        self.terminal = sys.stdout

    def write(self, message):
-        self.log.write(message)
+        #self.log.write(message)
        #close(filename)
        #self.log = open(filename, "a")
        try:
Author	SHA1	Message	Date
BlueOceanWave	b861a61f07	Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software	2024-03-05 16:30:26 -06:00
BlueOceanWave	925ceb4b5a	Commented jupytr notebook	2024-03-05 16:30:19 -06:00
BlueOceanWave	dd2559130d	Commented jupytr notebook	2024-03-05 16:27:48 -06:00
BlueOceanWave	1fa7654da5	removed temp file	2024-03-05 16:21:07 -06:00
BlueOceanWave	051cc1d003	Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software	2024-03-05 16:20:11 -06:00
BlueOceanWave	e1af00e1db	Inverse kinematics complete	2024-03-05 16:20:05 -06:00
adeck	af6ffe451d	Fix get_specs	2024-03-01 19:26:47 -06:00
adeck	50bf835d13	Update parsing and stuff	2024-03-01 19:25:01 -06:00
adeck	fe5de4e54c	Adjust datasheet parsing for meilisearch, add dockerfile	2024-02-17 23:08:21 -06:00
adeck	523915feb0	add partnum to parsing	2024-02-17 20:31:43 -06:00
adeck	b5b2a936c1	Switch to binary dependency	2024-02-17 20:25:51 -06:00
adeck	afd144bd32	FIx requirements.txt	2024-02-17 20:22:54 -06:00
adeck	eb221a5206	Create main runner app, with async multithreading	2024-02-17 20:21:42 -06:00
adeck	db7c8c4577	Add video abstraction class	2024-02-17 20:06:37 -06:00
BlueOceanWave	21b1bf7992	Added system exit	2024-02-16 20:36:43 -06:00
adeck	d376dba67c	Add keyboard control scripts, add websocket server	2024-02-08 12:35:30 -06:00
adeck	95631dbdbe	Add LED array mapping, load base config for tabletop rings, and image/video player mode	2024-01-25 20:06:10 -06:00
adeck	9aef296763	More logging	2024-01-18 16:45:37 -06:00
adeck	2b287492de	Make firefox start faster, verbose start	2024-01-18 16:41:57 -06:00
adeck	d2a4d93590	Working network test	2024-01-18 16:35:02 -06:00
adeck	58605dbe85	test server/client setup	2024-01-18 16:00:12 -06:00
adeck	7bf3276ce9	Add basic windows control system. Needs VM functional to continue	2024-01-17 20:14:20 -06:00
adeck	818688452b	Add local loading page	2024-01-17 16:46:20 -06:00
adeck	01526524d4	Create main runner app, with async multithreading	2024-01-17 16:06:15 -06:00
adeck	33671683ea	test rendering json in HTML table format	2024-01-17 09:23:06 -06:00
adeck	fad885c610	Add UR5 control test, datasheet JSON output	2024-01-16 17:27:55 -06:00