473 lines
16 KiB
Python
Executable File
473 lines
16 KiB
Python
Executable File
import urx
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import math3d as m3d
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from scipy.optimize import fsolve
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import math
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import numpy as np
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import time
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import os
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import logging
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from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
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import sys
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from util import fprint
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rob = None
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offset_x, offset_y, offset_z = (0, 0, 0.14) # Tool offset
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limb_base, limb1, limb2, limb3, limb_wrist = (0.105, .425, .39225, .1, .0997) # Limb lengths
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def init(ip):
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global rob
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#sys.stdout = Logger()
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fprint("Starting UR5 power up...")
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# power up robot here
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# wait for power up (this function runs async)
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# trigger auto-initialize
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# wait for auto-initialize
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# init urx
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fprint("Connecting to arm at " + ip)
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trying = True
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while trying:
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try:
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rob = urx.Robot(ip)
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trying = False
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except:
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time.sleep(1)
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robotiqgrip = Robotiq_Two_Finger_Gripper(rob)
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# Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
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rob.set_tcp((0, 0, 0.15, 0, 0, 0))
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# Set weight
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rob.set_payload(2, (0, 0, 0.1))
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#rob.set_payload(2, (0, 0, 0.1))
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time.sleep(0.2)
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fprint("UR5 ready.")
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def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
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global rob
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new_orientation = m3d.Transform()
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new_orientation.orient.rotate_xb(xb) # Replace rx with the desired rotation around X-axis
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new_orientation.orient.rotate_yb(yb) # Replace ry with the desired rotation around Y-axis
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new_orientation.orient.rotate_zb(zb) # Replace rz with the desired rotation around Z-axis
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# Get the current pose
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trans = rob.getl()
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# Apply the new orientation while keeping the current position
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new_trans = m3d.Transform(new_orientation.orient, m3d.Vector(trans[0:3]))
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new_trans.pos.x = x
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new_trans.pos.y = y
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new_trans.pos.z = z
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#rob.speedj(0.2, 0.5, 99999)
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rob.set_pose(new_trans, acc=2, vel=2, command="movej", threshold=threshold) # apply the new pose
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def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
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global rob
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new_orientation = m3d.Transform()
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new_orientation.orient.rotate_xb(xb) # Replace rx with the desired rotation around X-axis
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new_orientation.orient.rotate_yb(yb) # Replace ry with the desired rotation around Y-axis
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new_orientation.orient.rotate_zb(zb) # Replace rz with the desired rotation around Z-axis
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# Get the current pose
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trans = rob.getl()
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# Apply the new orientation while keeping the current position
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new_trans = m3d.Transform(new_orientation.orient, m3d.Vector(trans[0:3]))
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new_trans.pos.x += x
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new_trans.pos.y += y
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new_trans.pos.z += z
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#rob.speedj(0.2, 0.5, 99999)
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rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej") # apply the new pose
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def set_pos_abs_rot_rel(x, y, z, xb, yb, zb):
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global rob
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new_orientation = m3d.Transform()
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new_orientation.orient.rotate_xb(xb) # Replace rx with the desired rotation around X-axis
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new_orientation.orient.rotate_yb(yb) # Replace ry with the desired rotation around Y-axis
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new_orientation.orient.rotate_zb(zb) # Replace rz with the desired rotation around Z-axis
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# Get the current pose
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trans = rob.getl()
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# Apply the new orientation while keeping the current position
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new_trans = m3d.Transform(new_orientation.orient, m3d.Vector(trans[0:3]))
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new_trans.pos.x = x
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new_trans.pos.y = y
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new_trans.pos.z = z
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#rob.speedj(0.2, 0.5, 99999)
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rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej") # apply the new pose
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def is_safe_move(start_pose, end_pose, r=0.25):
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start_x, start_y = (start_pose[0], start_pose[1])
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end_x, end_y = (end_pose[0], end_pose[1])
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try:
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m = (end_y-start_y)/(end_x-start_x)
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b = start_y - m*start_x
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# print('m = y/x =', m)
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# print('b =', b)
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except:
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m = (end_x-start_x)/(end_y-start_y)
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b = start_x - m*start_y
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# print('m = x/y =', m)
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# print('b =', b)
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return r**2 - b**2 + m**2 * r**2 < 0
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def cartesian_to_polar(x, y):
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r = np.sqrt(x**2 + y**2)
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theta = np.arctan2(y, x)
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return r, theta
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def polar_to_cartesian(r, theta):
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x = r * np.cos(theta)
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y = r * np.sin(theta)
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return x, y
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def move_to_polar(start_pos, end_pos):
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global rob
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# Convert to polar coordinates
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start_r, start_theta = cartesian_to_polar(start_pos[0], start_pos[1])
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end_r, end_theta = cartesian_to_polar(end_pos[0], end_pos[1])
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# Interpolate for xy (spiral arc)
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n_points = 30
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r_intermediate = np.linspace(start_r, end_r, n_points)
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theta_intermediate = np.linspace(start_theta, end_theta, n_points)
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# Interpolate for z (height)
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start_z = start_pos[2]
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end_z = end_pos[2]
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z_intermediate = np.linspace(start_z, end_z, n_points)
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# Interpolate for rz (keep tool rotation fixed relative to robot)
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curr_rot = rob.getl()
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theta_delta = theta_intermediate[1]-theta_intermediate[0]
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rx_intermediate = [curr_rot[5] + theta_delta*i for i in range(n_points)]
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# curr_rot = rob.getj()
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# start_rz = curr_rot[5]
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# rot = end_theta - start_theta
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# end_base_joint = curr_rot[0]-start_theta + rot
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# end_rz = curr_rot[0] + rot
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# # rob.movel([*polar_to_cartesian(end_r, end_theta), *rob.getl()[2:]], acc=2, vel=2)
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# print('start_theta = ', math.degrees(start_theta))
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# print('end_theta = ', math.degrees(curr_rot[0]-start_theta+rot))
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# print('start_rz =', math.degrees(start_rz))
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# print('rot =', math.degrees(rot))
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# print('end_rz =', math.degrees(end_rz))
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# rz_intermediate = np.linspace(start_rz, end_rz, n_points)
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# Convert back to cartesian coordinates
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curr_pos = rob.getl()
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intermediate_points = [[*polar_to_cartesian(r, theta), z, *curr_pos[3:]]
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for r, theta, z, rx in zip(r_intermediate,
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theta_intermediate,
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z_intermediate,
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rx_intermediate)]
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# Move robot
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rob.movels(intermediate_points, acc=2, vel=2, radius=0.1)
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return rx_intermediate
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def degtorad(angle):
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return angle/180.0 * math.pi
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def radtodeg(angle):
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return angle*180.0 / math.pi
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def move_to_home():
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global rob
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# Home position in degrees
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home_pos = [0.10421807948612624,
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-2.206111555015423,
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1.710679229503537,
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-1.075834511928354,
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-1.569301366430687,
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1.675098295930943]
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# Move robot
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rob.movej(home_pos, acc=2, vel=2)
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def normalize_degree(theta):
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# Normalizes degree theta from -1.5pi to 1.5pi
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multiplier = 1
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normalized_theta = theta % (math.pi * multiplier)
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# Maintain the negative sign if the original angle is negative
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if theta < 0:
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normalized_theta -= math.pi * multiplier
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# Return angle
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return normalized_theta
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def get_joints_from_xyz_rel(x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_guess = (math.pi/2, math.pi/2, 0), l3offset=0):
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# Get limbs and offsets
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#l3=0.15
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l_bs, l1, l2, l3, l_wt = (limb_base, limb1, limb2, limb3, limb_wrist) # Limb lengths
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l3 += l3offset # add wrist offset, used for gripper angle calculations
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# Calculate base angle and r relative to shoulder joint
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def calculate_theta(x, y, a):
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# Calculate if we need the + or - in our equations
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if (x>-a and y>=0) or (x>a and y<0):
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flip = 1
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elif (x<-a and y>=0) or (x<a and y<0):
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flip = -1
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else:
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# Critical section (x=a, or x=-a). Infinite slope
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# Return 0 or 180 depending on sign
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return math.atan2(y, 0)
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# Calculate tangent line y = mx + b
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m = (x*y - math.sqrt(x*x*y*y-(x*x-a*a)*(y*y-a*a)))/(x*x-a*a)
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b = flip * a * math.sqrt(1+m*m)
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# Calculate equivalent tangent point on circle
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cx = (-flip*m*b)/(1+m*m)
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cy = m*cx + flip*b
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# Calculate base angle, make angle negative if flip=1
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theta = math.atan2(cy, cx) + (-math.pi if flip==1 else 0)
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return theta
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base_theta = calculate_theta(x, y, l_bs)
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cx, cy = l_bs*math.cos(base_theta), l_bs*math.sin(base_theta)
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r = math.sqrt((x+offset_x+cx)**2 + (y+offset_y+cy)**2)
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# Formulas to find out joint positions for (r, z)
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def inv_kin_r_z(p):
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a, b, c = p
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return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r
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l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - (l3*math.sin(a-b-c)) - (z + offset_z), # z
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a-b-c) # wrist angle
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# Normalize angles
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base, shoulder, elbow, wrist1 = [normalize_degree(deg) for deg in [base_theta, *fsolve(inv_kin_r_z, initial_guess)]]
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wrist1 += rx
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# Return result
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return base, shoulder, elbow, wrist1, ry, rz
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def get_joints_from_xyz_abs(x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2, l3offset=0):
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joints = get_joints_from_xyz_rel(x, y, z, rx, ry, rz, l3offset=l3offset)
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# Joint offsets
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# Base, Shoulder, Elbow, Wrist
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inverse = [1, -1, 1, 1, 1, 1]
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offsets = [-math.pi/2, 0, 0, -math.pi/2, 0, 0]
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if radtodeg(joints[1]) > 137:
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print("CRASH! Shoulder at", joints[1] * 180/math.pi)
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#else:
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#print("Shoulder at", joints[1] * 180/math.pi)
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# Return adjusted joint positions
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return [o+j*i for j, o, i in zip(joints, offsets, inverse)]
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# gripper angle: from vertical
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# gripper length: from joint to start of grip
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# to flip, you can use flip=True or make gripper angle negative
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def offset_gripper_angle(x, y, z, gripperangle=35, gripperlength=0.20+0.018, flip=False):
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if gripperangle < 0:
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rz = - math.pi / 2
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else:
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rz = math.pi / 2
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if flip:
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gripperangle = -degtorad(gripperangle)
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grippery = gripperlength - math.cos(gripperangle) * gripperlength
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grippery += math.sin(gripperangle) * limb3
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gripperx = math.sin(gripperangle) * gripperlength + limb3 * 2
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gripperx -= (1-math.cos(gripperangle)) * limb3
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rz = - math.pi / 2
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# flip the whole wrist
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return get_joints_from_xyz_abs(x, y, z-grippery, rx=gripperangle + degtorad(180), l3offset=-gripperx, ry=math.pi/2, rz=rz)
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else:
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gripperangle = degtorad(gripperangle)
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grippery = gripperlength - math.cos(gripperangle) * gripperlength
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grippery -= math.sin(gripperangle) * limb3
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gripperx = math.sin(gripperangle) * gripperlength
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gripperx += (1-math.cos(gripperangle)) * limb3
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return get_joints_from_xyz_abs(x, y, z-grippery, rx=gripperangle, l3offset=-gripperx, rz=rz)
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def goto_holder_index(idx, z=0.05, gripperangle=35, flip=False):
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joint = config["position_map"][idx]
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print("Going to cable holder index", joint["index"], "at position", joint["pos"])
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angles = offset_gripper_angle(joint["pos"][1]/1000, joint["pos"][0]/1000, z, gripperangle=gripperangle, flip=flip)
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#rob.movej(angles, acc=2, vel=2)
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return angles
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#angles = get_joints_from_xyz_abs(joint["pos"][1]/1000, joint["pos"][0]/1000, 0.05, )
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if __name__ == "__main__":
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#rob.movej((0, 0, 0, 0, 0, 0), 0.1, 0.2)
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#rob.movel((x, y, z, rx, ry, rz), a, v)
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init("192.168.1.145")
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print("Current tool pose is: ", rob.getl())
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move_to_home()
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home_pose = [-0.4999999077032916,
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-0.2000072960336574,
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0.40002172976662786,
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0,
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-3.14152741295329,
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math.radians(62)]
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# time.sleep(.5)
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p1 = [0,
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0.6,
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.4,
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0.2226,
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3.1126,
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0.0510]
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p2 = [0.171,
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-0.115,
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0.2,
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0.2226,
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3.1126,
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0.0510]
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curr_pos = rob.getl()
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# up/down,
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# tool rotation
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# tool angle (shouldn't need)
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# rob.set_pos(p1[0:3], acc=0.5, vel=0.5)
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# set_pos_abs(*home_pose)
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# angles = get_joints_from_xyz_abs(-0.2, 0, 0)
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# rob.movej(angles, acc=2, vel=2)
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# angles = get_joints_from_xyz_abs(-0.2, -0.2, 0)
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# rob.movej(angles, acc=2, vel=2)
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# angles = get_joints_from_xyz_abs(0, -0.6, 0)
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# rob.movej(angles, acc=2, vel=2)
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# angles = get_joints_from_xyz_abs(0, -0.5, 0)
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# rob.movej(angles, acc=2, vel=2)
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# angles = get_joints_from_xyz_abs(0, -0.4, 0)
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# rob.movej(angles, acc=2, vel=2)
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# angles = get_joints_from_xyz_abs(0, -0.3, 0)
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# rob.movej(angles, acc=2, vel=2)
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# angles = get_joints_from_xyz_abs(0, -0.2, 0)
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# rob.movej(angles, acc=2, vel=2)
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# angles = get_joints_from_xyz_abs(0, -0.13, 0)
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# rob.movej(angles, acc=2, vel=2)
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config = None
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joints = []
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for i in np.linspace(-0.2, -0.7, 50):
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joints.append(get_joints_from_xyz_abs(i, 0, 0))
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#rob.movejs(joints, acc=2, vel=2)
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import yaml
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with open('config.yml', 'r') as fileread:
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#global config
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config = yaml.safe_load(fileread)
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#rob.movej(goto_holder_index(24, 0.2, 0), acc=2, vel=2)
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#joints = []
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#for i in np.linspace(0, 340, 340):
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# joints.append(goto_holder_index(24, 0.5, i))
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#rob.movejs(joints, acc=1, vel=3)
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angle = 30
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rob.movej(goto_holder_index(26, 0.2, angle), acc=2, vel=2)
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rob.movej(goto_holder_index(32, 0.2, angle), acc=2, vel=2)
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rob.movej(goto_holder_index(38, 0.2, angle), acc=2, vel=2)
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rob.movej(goto_holder_index(25, 0.2, angle, flip=True), acc=2, vel=2)
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rob.movej(goto_holder_index(24, 0.3, angle, flip=True), acc=2, vel=2)
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rob.movej(goto_holder_index(24, 0.2, angle, flip=True), acc=2, vel=2)
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rob.movej(goto_holder_index(24, 0.0, angle, flip=True), acc=2, vel=2)
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time.sleep(1)
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rob.movej(goto_holder_index(25, 0.1, angle, flip=True), acc=2, vel=2)
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rob.movej(goto_holder_index(25, 0.1, angle), acc=2, vel=2)
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rob.movej(goto_holder_index(49, 0.1, angle, flip=True), acc=2, vel=2)
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rob.movej(goto_holder_index(50, 0.1, angle, flip=True), acc=2, vel=2)
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rob.movej(goto_holder_index(51, 0.1, angle, flip=True), acc=2, vel=2)
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rob.movej(goto_holder_index(52, 0.1, angle, flip=True), acc=2, vel=2)
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rob.movej(goto_holder_index(53, 0.1, angle, flip=True), acc=2, vel=2)
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#time.sleep(2)
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#rob.movej(goto_holder_index(24, 0.15, 35, flip=True), acc=2, vel=2)
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#time.sleep(10)
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# time.sleep(4)
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# goto_holder_index(26, 0.1, 20)
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# time.sleep(4)
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# goto_holder_index(26, 0.1, 30)
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# time.sleep(4)
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# goto_holder_index(26, 0.1, 40)
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# for joint in config["position_map"]:
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#joint = config["position_map"][26]
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#print("Going to cable holder index", joint["index"], "at position", joint["pos"])
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#angles = get_joints_from_xyz_abs(joint["pos"][1]/1000, joint["pos"][0]/1000, 0.05, )# rx=math.pi / 5)
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#joints.append(angles)
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#rob.movej(angles, acc=2, vel=2)
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#time.sleep(10)
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#rob.movejs(joints, acc=2, vel=2)
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# joints = []
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# for i in np.linspace(-0.3, -0.7, 50):
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# joints.append(get_joints_from_xyz_abs(i, 0, 0))
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# rob.movejs(joints, acc=2, vel=2)
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# time.sleep(5)
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# angles = get_joints_from_xyz_abs(0, -0.6, 0)
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# rob.movej(angles, acc=2, vel=2)
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# set_pos_abs(*p1)
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# move = move_to_polar(p1, p2)
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# for p in move:
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# print(math.degrees(p))
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# print("Safe? :", is_safe_move(p1, p2))
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# #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
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# set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
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# set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
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# set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
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# #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
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# print("Current tool pose is: ", rob.getl())
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# print("getj(): ", rob.getj())
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# move_to_home()
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rob.stop()
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os.kill(os.getpid(), 9) # dirty kill of self
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sys.exit(0)
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