""" Python library to control an UR robot through its TCP/IP interface import urx rob = urx.robot(192.168.0.100) rob.set_tcp((x=01, z=0.232)) rob.movej((1,2,3,4,5,6), a, v) rob.movel((x,y,z,a,b,c), a, v) print "Current tool pose is: ", rob.getl() rob.movelrel((0.1, 0, 0, 0, 0, 0), a, v) rob.stopj(a) robot.movel(x,y,z,a,b,c), wait=False) while True : sleep(0.1) #sleep first since the information may be outdated if robot.isProgramRunning(): break robot.movel(x,y,z,a,b,c), wait=False) while.robot.getForce() < 50: sleep(0.01) robot.stopl() try: robot.movelrel(0,0,0.1,0,0,0) except RobotError, ex: print "Robot could not execute move (emergency stop for example), do somethhing", ex Using matrices: robot = Robot("192.168.1.1") robot.set_tcp((0,0,0.23,0,0,0) calib = mathd3d.Transform() calib.orient.rotate_zb(pi/4) #just an example robot.set_calibration_matrix(calib) trans = robot.get_transform() # get current transformation matrix (tool to base) trans.orient.rotate_yt(pi/2) robot.apply_transform(trans) trans.pos += math3d.Vector(0,0,0.3) robot.apply_transform(trans) #or only work with orientation part o = robot.get_orientation() o.rotate_yb(pi) robot.orient(o) DOC LINK http://support.universal-robots.com/URRobot/RemoteAccess """ from __future__ import absolute_import # necessary for import tricks to work with python2 __author__ = "Olivier Roulet-Dubonnet" __copyright__ = "Copyright 2011-2012, Olivier Roulet-Dubonnet" __credits__ = ["Olivier Roulet-Dubonnet"] __license__ = "GPLv3" __version__ = "0.3" __status__ = "Development" import time import logging MATH3D = True try: import math3d except ImportError: MATH3D = False print("pymath3d library could not be found on this computer, disabling use of matrices") from urx import urrtmon from urx import ursecmon from urx import tracker class RobotException(Exception): pass class URRobot(object): """ Python interface to socket interface of UR robot. programs are send to port 3002 data is read from secondary interface(10Hz?) and real-time interface(125Hz) (called Matlab interface in documentation) Since parsing the RT interface uses som CPU, and does not support all robots versions, it is disabled by default The RT interfaces is only used for the getForce related methods Rmq: A program sent to the robot i executed immendiatly and any running program is stopped """ def __init__(self, host, useRTInterface=False, logLevel=logging.WARN): self.logger = logging.getLogger(self.__class__.__name__) if len(logging.root.handlers) == 0: #dirty hack logging.basicConfig() self.logger.setLevel(logLevel) self.host = host self.logger.info("Opening secondary monitor socket") self.secmon = ursecmon.SecondaryMonitor(self.host, logLevel=logLevel) #data from robot at 10Hz if useRTInterface: self.logger.info("Opening real-time monitor socket") self.rtmon = urrtmon.URRTMonitor(self.host)# som information is only available on rt interface else: self.rtmon = None #the next 3 values must be conservative! otherwise we may wait forever self.jointEpsilon = 0.05 # precision of joint movem used to wait for move completion self.linearEpsilon = 0.0005 # precision of linear movement, used to wait for move completion self.radialEpsilon = 0.05 # precision of radial movement, used to wait for move completion if useRTInterface: self.rtmon.start() self.start_pose = [1.57, -1.77, 1.57, -1.8, -1.57, -1.57] self.secmon.wait() # make sure we get data to not suprise clients def __repr__(self): return "Robot Object (IP=%s, state=%s)" % (self.host, self.secmon.getAllData()["RobotModeData"]) def __str__(self): return self.__repr__() def isRunning(self): # legacy return self.secmon.running def isProgramRunning(self): return self.secmon.isProgramRunning() def sendProgram(self, prog): self.secmon.sendProgram(prog) def getTCPForce(self, wait=True): """ return measured force in TCP if wait==True, waits for next packet before returning """ return self.rtmon.getTCFForce(wait) def getForce(self, wait=True): """ length of force vector returned by getTCPForce if wait==True, waits for next packet before returning """ tcpf = self.getTCPForce( wait) force = 0 for i in tcpf: force += i**2 return force**0.5 def moveToStartPose(self): """ move to pos defined in self.start_pose attribute """ self.movej(self.start_pose) def setTcp(self, x=0, y=0, z=0, a=0, b=0, c=0): """ """ if type(x) in (list, tuple): if len(x) != 6: raise Exception("Tcp is a 6 values list") else: arg = x else: arg = (x, y, z, a, b, c) prog = "set_tcp(p[%s, %s, %s, %s, %s, %s])" % arg self.secmon.sendProgram(prog) def setPayload(self, weight): """ set payload in Kg """ prog = "set_payload(%s)" % weight self.secmon.sendProgram(prog) def setGravity(self, vector): """ set direction of gravity """ prog = "set_gravity(%s)" % list(vector) self.secmon.sendProgram(prog) def sendMessage(self, msg): """ send message to the GUI log tab on the robot controller """ prog = "textmsg(%s)" % msg self.secmon.sendProgram(prog) def setDigitalOut(self, output, val): """ set digital output. val is a bool """ if val in (True, 1): val = "True" else: val = "False" self.secmon.sendProgram('digital_out[%s]=%s' % (output, val)) def getAnalogInputs(self): """ get analog input """ data = self.secmon.getAllData() return data["MasterBoardData"]["analogInput0"], data["MasterBoardData"]["analogInput1"] def getAnalogInput(self, nb): """ get analog input """ data = self.secmon.getAllData() return data["MasterBoardData"]["analogInput" + str(nb)] def getDigitalInputBits(self): """ get digital output """ data = self.secmon.getAllData() return data["MasterBoardData"]["digitalInputBits"] def getDigitalInput(self, nb): """ get digital output """ data = self.secmon.getAllData() val = data["MasterBoardData"]["digitalInputBits"] mask = 1 << nb if (val & mask): return 1 else: return 0 def getDigitalOutput(self, val): """ get digital output """ data = self.secmon.getAllData() output = data["MasterBoardData"]["digitalOutputBits"] mask = 1 << val if (output & mask): return 1 else: return 0 def setAnalogOut(self, output, val): """ set analog output, val is a float """ prog = "set_analog_output(%s, %s)" % (output, val) self.secmon.sendProgram(prog) def setToolVoltage(self, val): """ set voltage to be delivered to the tool, val is 0, 12 or 24 """ prog = "set_tool_voltage(%s)" % (val) self.secmon.sendProgram(prog) def movejrel(self, joints, acc=0.1, vel=0.05, wait=True): """ relative joint move """ self.movej(joints, acc, vel, wait, relative=True) def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False): """ move in joint space """ if relative: l = self.getj() joints = [v + l[i] for i, v in enumerate(joints)] prog = "movej(%s, a=%s, v=%s)" % (list(joints), acc, vel) self.sendProgram(prog) if not wait: return None else: time.sleep(0.05)# it is important to sleep since robot may takes a while to get into running state while True: if not self.isRunning(): raise RobotException("Robot stopped") currentjoints = self.getj(wait=True) if self._eq(currentjoints, joints) and not self.secmon.isProgramRunning(): return currentjoints def getj(self, wait=False): """ get joints position """ jts = self.secmon.getJointData(wait) return [jts["q_actual0"], jts["q_actual1"], jts["q_actual2"], jts["q_actual3"], jts["q_actual4"], jts["q_actual5"]] def movelrel(self, tpose, acc=0.01, vel=0.01, wait=True): """ relative linear move """ return self.movel(tpose, acc, vel, wait, relative=True) def movel(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False): """ linear move """ if relative: l = self.getl() tpose = [v + l[i] for i, v in enumerate(tpose)] tpose = [round(i, 2) for i in tpose] prog = "movel(p%s, a=%s, v=%s)" % (tpose, acc, vel) self.sendProgram(prog) if not wait: return None else: time.sleep(0.05)# it is important to sleep since robot may takes a while to get into running state while True: if not self.isRunning(): raise RobotException("Robot stopped") pose = self.getl(wait=True) if self._eqpose(pose, tpose) and not self.secmon.isProgramRunning(): return pose def getl(self, wait=False): """ get TCP position """ pose = self.secmon.getCartesianInfo(wait) if pose: pose = [pose["X"], pose["Y"], pose["Z"], pose["Rx"], pose["Ry"], pose["Rz"]] self.logger.debug("Current pose from robot: " + str(pose)) return pose def movels(self, joints, acc, vel , radius, wait=True): """ where joints is a list of list. dvs: several movel commands must be send as one program in order for radius blending to work. This is could easily be implemented in movel by detecting type of the joint variable """ # can be implemented by sending a complete urscript program calling several movel in a row with a radius raise NotImplementedError def stopl(self, acc = 0.5): self.sendProgram("stopl(%s)" % acc) def stopj(self, acc = 1.5): self.sendProgram("stopj(%s)" % acc) def stop(self): self.stopj() def _eq(self, l1, l2): """ robot joints precision is 0.01, donot give anything smaller!!! """ for i in range(0, len(l1)): if abs(l1[i] -l2[i]) > self.jointEpsilon: return False return True def _eqpose(self, l1, l2): """ epsilonl is for x,y,z epsilonr is for a,b,c robot joints precision is 0.01, do not give anything smaller!!! """ for i in range(0, 3): if abs(l1[i] - l2[i]) > self.linearEpsilon: #print "param: ", i, "val: ", l1[i], "-", l2[i] , "=", abs(l1[i] -l2[i]), " is not under ", self.linearEpsilon return False for i in range(3, 6): if abs(l1[i] - l2[i]) > self.radialEpsilon: #print "param: ", i, "val: ", l1[i], "-", l2[i] , "=", abs(l1[i] -l2[i]), " is not under ", self.radialEpsilon return False return True def cleanup(self): self.logger.info("Closing sockets to robot") self.secmon.cleanup() if self.rtmon: self.rtmon.stop() def set_freedrive(self, val): if val: self.sendProgram("set robotmode freedrive") else: self.sendProgram("set robotmode run") def set_simulation(self, val): if val: self.sendProgram("set sim") else: self.sendProgram("set real") class Robot(object): """ Generic Python interface to an industrial robot. Compare to the URRobot class, this class adds the possibilty to work directly with matrices and includes support for calibrating the robot coordinate system and style portet to PEP 8 """ def __init__(self, host, useRTInterface=False, logLevel = logging.WARN): self.robot = URRobot(host, useRTInterface, logLevel=logLevel) self.logger = logging.getLogger(self.__class__.__name__) if len(logging.root.handlers) == 0: #dirty hack logging.basicConfig() self.logger.setLevel(logLevel) self.default_linear_acceleration = 0.01 self.default_linear_velocity = 0.01 self.calibration = math3d.Transform() #identity self.inverse = self.calibration.inverse() self.tracker = None def set_tcp(self, tcp): if type(tcp) == math3d.Transform: tcp = tcp.pose_vector self.robot.setTcp(tcp) def set_calibration_matrix(self, matrix): self.calibration = matrix self.inverse = self.calibration.inverse() def orient(self, orient, acc=None, vel=None, wait=True): if type(orient) != math3d.Orientation: orient = math3d.Orientation(orient) trans = self.get_transform() trans.orient = orient self.apply_transform(trans, acc, vel, wait) def set_orientation(self, orient, acc=None, vel=None, wait=True): self.orient(orient, acc, vel, wait) def translate(self, vect, acc=None, vel=None, wait=True): trans = self.get_transform() trans.pos += math3d.Vector(vect) return self.apply_transform(trans, acc, vel, wait) def set_pos(self, vect, acc=None, vel=None, wait=True): trans = math3d.Transform(self.get_orientation(), math3d.Vector(vect)) return self.apply_transform(trans, acc, vel, wait) def stop(self): self.robot.stop() def apply_transform(self, trans, acc=None, vel=None, wait=True): if not acc: acc = self.default_linear_acceleration if not vel: vel = self.default_linear_velocity t = self.calibration * trans pose = self.robot.movel(t.pose_vector, acc, vel, wait) if pose: #movel does not return anything when wait is False return self.inverse * math3d.Transform(pose) def add_transform_b(self, trans, acc=None, vel=None, wait=True): """ Add transform expressed in base coordinate """ pose = self.get_transform() return self.apply_transform(trans * pose, acc, vel, wait) def add_transform_t(self, trans, acc=None, vel=None, wait=True): """ Add transform expressed in tool coordinate """ pose = self.get_transform() return self.apply_transform(pose * trans, acc, vel, wait) def get_transform(self, wait=False): pose = self.robot.getl(wait) trans = self.inverse * math3d.Transform(pose) return trans def get_orientation(self, wait=False): trans = self.get_transform(wait) return trans.orient def get_pos(self, wait=False): trans = self.get_transform(wait) return trans.pos def movel(self, pose, acc=None, vel=None, wait=True, relative=False): """ move linear to given pose in base coordinate """ t = math3d.Transform(pose) if relative: self.add_transform_b(t, acc, vel, wait) else: self.apply_transform(t, acc, vel, wait) def movel_t(self, pose, acc=None, vel=None, wait=True): """ move linear to given pose in tool coordinate """ t = math3d.Transform(pose) self.add_transform_t(t, acc, vel, wait) def getl(self, wait=False): t = self.get_transform(wait) return t.pose_vector def is_running(self): return self.robot.isRunning() def is_program_running(self): return self.robot.isProgramRunning() def set_payload(self, weight): return self.robot.setPayload(weight) def set_gravity(self, vector): if type(vector) == math3d.Vector: vector = vector.list return self.robot.setGravity(vector) def set_digital_out(self, output, val): return self.robot.setDigitalOut(output, val) def get_digital_out(self, nb): self.robot.getDigitalOutput(nb) def get_digital_in(self, nb): return self.robot.getDigitalInput(nb) def get_analog_in(self, nb): return self.robot.getAnalogInput(nb) def set_freedrive(self, val): self.robot.set_freedrive(val) def set_simulation(self, val): self.robot.set_simulation(val) def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False): """ wrapper around the movej command in URRobot """ self.robot.movej(joints, acc, vel, wait, relative) def getj(self, wait=False): return self.robot.getj(wait) def cleanup(self): self.robot.cleanup() def get_tracker(self): """ return an object able to track robot move for logging """ t = tracker.Tracker(self.robot.host) t.set_calibration_matrix(self.calibration) return t if not MATH3D: Robot = URRobot if __name__ == "__main__": logging.basicConfig(level=logging.INFO) #enable logging try: #robot = Robot( '192.168.1.6') robot = Robot( '192.168.1.5') r = robot from IPython.frontend.terminal.embed import InteractiveShellEmbed ipshell = InteractiveShellEmbed( banner1="\n\n robot object is available \n\n") ipshell(local_ns=locals()) finally: if "robot" in dir(): robot.cleanup()