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Added config backup and loops in demo

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Michael Soukup 2014-08-06 01:30:23 +02:00
parent 816ec92a81
commit b2728d99d3
4 changed files with 214 additions and 15 deletions
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2
config.py
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@ -118,7 +118,7 @@ Z_MAX = TABLE_Z + 4.5*BLOCK_DIM #4 blocks high
# the z-levels grow upwards.
DEFAULT_LOOP_VEL = 0.1
LOOP_VEL_MIN = 0.05
LOOP_VEL_MAX = 0.7
LOOP_VEL_MAX = 0.5
LOOP_ACC = 0.5
R_LVL0 = 0.691 #tip of tool at table edge

141
config.py.bak Normal file
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@ -0,0 +1,141 @@
# This config file is the one tested and tuned during development.
# Revert to this to reset parameters.
import math
DEBUG = True
# GUI
#
# Frame rates should be high enough to poll keys efficiently.
SCREEN_DIM = (800, 600)
FONTSIZE = 24
BG_COL = (255,255,255)
FONT_COL = (0,0,0)
MENU_FPS = 15
CTR_FPS = 60 #manual control
# NETWORK
#
# The IP address can be found in the PolyScope interface (tablet) of the robot.
# SETUP Robot -> Setup NETWORK (requires password) -> IP address
UR5_IP = "129.241.187.119"
UR5_HOSTNAME = 'ur-2012208984' #requires dns.
# BLOCK DIMENSION
#
# Blocks are cubic and the hole is centered.
BLOCK_DIM = 0.0965 #TUNED
# TABLE CONFIGURATION
#
# The table configuration specifies parameters for the cylinder coordinate system.
# All table parameters are relative to the robots base coordinate system.
#
# TABLE_QUADRANT was added because the UR5's kinetmatics computations are dependent
# on its own base coordinate system. For instance, quadrant 3.0 results in joint
# violations in the original setup. Quadrant 0.0 corresponds to the table center
# along the base x-axis, quadrant 1.0 corresponds to the base y-axis, etc.
# Quardant 0 is recommended.
TABLE_QUADRANT = 0 #[0..4)
TABLE_ORIGO_OFFSET = (-0.245, -0.003) #offset from origo along base x-axis
TABLE_Z = -0.3337 #this should be fine-tuned on each setup
TABLE_ARC = math.pi/2
# HOME JOINT CONFIGURATION
#
# This is the joint config for the robot's initial position.
# We need this also expressed in joint space to ensure that the robot does not
# collide with itself when moving to the base configuration, and to ensure
# the correct tool orientation when calibrating the reference cylinder
# coordinate system.
#
# Change joints 2-6 in QUADRANT_JOINTS_HOME to tune the tool orientation.
R_HOME = 0.55
THETA_HOME = 0
Z_HOME = TABLE_Z + BLOCK_DIM
JOINTS_HOME = [TABLE_QUADRANT*math.pi/2,
-3*math.pi/4,
-3*math.pi/4,
-math.pi/2,
-math.pi/2,
49*math.pi/50]
# FORCE MONITOR
#
# Enables force constraints on the tool (for manual control).
# When the force exceeds FORCE_CONSTRAINT (newton), the robot move in the direction
# opposite to the current command in T_FORCE_VIOLATION seconds.
# Note: Setting this to "True" involves polling the UR5 through a real-time
# monitor that runs at 125Hz. If the controller runs slow, try disabling this.
USE_FORCE_MONITOR = True
FORCE_CONSTRAINT = 40
T_FORCE_VIOLATION = 0.3
# MANUAL CONTROL
#
# Parameters that specifies velocity curve and constraints of manual control.
# Note that the angular velocity is also [m/s], not [rad/s], to ensure that the robot
# moves with constant speed regardless of direction in the polar plane.
# IMPORTANT: VEL_Z should be tuned to Z_MIN to avoid smashing into the table.
VEL = 0.1 #[m/s]
VEL_Z = 0.05 #[m/s]
ACC = 0.5 #[m/s^2]
STOP_ACC = 1.0 #aka deceleration
T_DIR_CHANGE_COOLDOWN = 0.05
# Constraints are relative to the cylinder coordinate system.
# Because of delay and fluctuations of parameters in the system,
# the calculation of projected positions are not correct.
# Therefore, an empirical offset is added in controller.update().
# Consider this before changing control speed
R_MIN = 0.49
R_MAX = 0.75
THETA_MIN= -TABLE_ARC/2
THETA_MAX = TABLE_ARC/2
Z_MIN = TABLE_Z + 0.5*BLOCK_DIM
Z_MAX = TABLE_Z + 4.5*BLOCK_DIM #4 blocks high
# AUTO/LOOP CONTROL
#
# When looping, the robot use the same velocity for r, theta and z.
# Also, since this is all planned motions, we dont need to use stopl().
# This means that the trapezoidal velocity curve has the same slope at
# start and end of a motion. (acceleration=deceleration)
#
# Constraints in r and z-direction are specefied in levels to enable
# easier construction of loops. Note that the r-levels grow inwards, and
# the z-levels grow upwards.
DEFAULT_LOOP_VEL = 0.1
LOOP_VEL_MIN = 0.05
LOOP_VEL_MAX = 0.5
LOOP_ACC = 0.5
R_LVL0 = 0.691 #tip of tool at table edge
Z_LVL0 = TABLE_Z + BLOCK_DIM/2 #tool in middle of block
THETA_EDGE_LEFT = -math.pi/4 + math.pi/74 #empirical. table is not exact
THETA_EDGE_RIGHT = math.pi/4 - math.pi/74
# Offsets when picking (and placing) blocks.
# The place-block move is the reverse of the pick-block move,
# such that the start/end offsets for pick-block are the end/start offsets
# for place-block
R_STARTPICK_OFFSET = -1.3*BLOCK_DIM
THETA_STARTPICK_OFFSET = 0
Z_STARTPICK_OFFSET = 0
R_ENDPICK_OFFSET = -0.01 #lift slightly inwards to avoid collision with adjacent blocks
THETA_ENDPICK_OFFSET = 0
Z_ENDPICK_OFFSET = BLOCK_DIM*0.5

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config.pyc
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84
demo.py
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@ -54,7 +54,9 @@ class UR5Demo(object):
def go_home_pos(self):
self._disptxt(["Going to home configuration..."])
self.controller.movel(config.R_HOME, config.THETA_HOME, config.Z_HOME)
pose = self.controller.cylinder2cartesian(config.R_HOME, config.THETA_HOME, config.Z_HOME)
move = pose + [0.5, 0.1, 0]
self.controller.exec_move(move, wait=True)
def freedrive(self):
self.controller.set_freedrive(True)
@ -96,11 +98,29 @@ class UR5Demo(object):
self.clock.tick(config.MENU_FPS)
def run_loop1(self):
loopcount = 0
self._disptxt(["Running loop \"four blocks high\"", "Loopcount: %d" % loopcount])
time.sleep(1)
vel = self.loop_speed
acc = 1.1*vel
edge_left = config.THETA_EDGE_LEFT
edge_right = config.THETA_EDGE_RIGHT
# initiate loop, poll for robot move change and keypress
moves = []
moves.append(self.controller.blocklevel2move(0.5, 0, 0, acc, vel, 0))
moves += self.controller.pick_block(1, edge_left, 0, acc, vel)
moves += self.controller.place_block(0, 0, 0, acc, vel)
moves += self.controller.pick_block(1, edge_right, 0, acc, vel)
moves.append(self.controller.blocklevel2move(1.1, edge_right/2, 2, acc, vel, 0.15))
moves += self.controller.place_block(0, 0, 1, acc, vel)
moves += self.controller.pick_block(0, edge_left, 0, acc, vel)
moves.append(self.controller.blocklevel2move(0.1, edge_left/2, 3, acc, vel, 0.15))
moves += self.controller.place_block(0, 0, 2, acc, vel)
moves += self.controller.pick_block(0, edge_right, 0, acc, vel)
moves.append(self.controller.blocklevel2move(0.1, edge_right/2, 4, acc, vel, 0.15))
moves += self.controller.place_block(0, 0, 3, acc, vel)
moves.append(self.controller.blocklevel2move(1.5, 0, 0.1, acc, vel, 0))
loopcount = 0.0
self._disptxt(["Running loop \"four blocks high\"", "Loopcount: %d" % math.floor(loopcount)])
self.controller.exec_moves(moves, wait=False)
running = True
while running:
pressed = pygame.key.get_pressed()
@ -109,17 +129,51 @@ class UR5Demo(object):
self.sig_quit = True
if pressed[pygame.K_ESCAPE] or self.sig_quit:
running = False
self.clock.tick(config.MENU_FPS)
# Set to default pos before return?
if not self.controller.is_looping(1.0):
moves.reverse()
self.controller.exec_moves(moves, wait=False) # try-catch?
loopcount += 0.5
self._disptxt(["Running loop \"four blocks high\"", "Loopcount: %d" % math.floor(loopcount)])
#self.clock.tick(config.MENU_FPS) # we dont need this here, check loop blocks for 1 sec
self.controller.robot.stopj(acc)
def run_loop2(self):
loopcount = 0
self._disptxt(["Running loop \"small pyramid\"", "Loopcount: %d" % loopcount])
time.sleep(1)
vel = self.loop_speed
acc = 1.1*vel
dtheta_lvl0 = config.BLOCK_DIM/config.R_LVL0 + math.pi/64 #medium gap
edge_left = config.THETA_EDGE_LEFT
edge_right = config.THETA_EDGE_RIGHT
# initiate loop, poll for robot move change and keypress
moves = []
moves.append(self.controller.blocklevel2move(0.5, 0, 0, acc, vel, 0)) #initial
moves += self.controller.pick_block(0, edge_left, 1, acc, vel)
moves.append(self.controller.blocklevel2move(0.1, edge_left/2, 2, acc, vel, 0.15))
moves += self.controller.place_block(0, 0, 0, acc, vel)
moves += self.controller.pick_block(0, edge_right, 1, acc, vel)
moves.append(self.controller.blocklevel2move(0.1, (edge_right+dtheta_lvl0)/2, 2, acc, vel, 0.15))
moves += self.controller.place_block(0, dtheta_lvl0, 0, acc, vel)
moves.append(self.controller.blocklevel2move(1.1, (edge_left+dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
moves += self.controller.pick_block(1, edge_left, 0, acc, vel)
moves += self.controller.place_block(0, -dtheta_lvl0, 0, acc, vel)
moves.append(self.controller.blocklevel2move(1.1, (edge_right-dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
moves += self.controller.pick_block(1, edge_right, 0, acc, vel)
moves.append(self.controller.blocklevel2move(1.1, edge_right/2, 2, acc, vel, 0.15))
moves += self.controller.place_block(0, 0.5*dtheta_lvl0, 1, acc, vel)
moves += self.controller.pick_block(0, edge_left, 0, acc, vel)
moves.append(self.controller.blocklevel2move(0.1, edge_left/2, 2, acc, vel, 0.15))
moves += self.controller.place_block(0, -0.5*dtheta_lvl0, 1, acc, vel)
moves.append(self.controller.blocklevel2move(1.1, (edge_right-dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
moves += self.controller.pick_block(0, edge_right, 0, acc, vel)
moves.append(self.controller.blocklevel2move(0.1, edge_right/2, 3, acc, vel, 0.15))
moves += self.controller.place_block(0, 0, 2, acc, vel)
moves.append(self.controller.blocklevel2move(1.5, 0, 0.1, acc, vel, 0))
loopcount = 0.0
self._disptxt(["Running loop \"small pyramid\"", "Loopcount: %d" % math.floor(loopcount)])
self.controller.exec_moves(moves, wait=False)
running = True
while running:
pressed = pygame.key.get_pressed()
@ -128,9 +182,13 @@ class UR5Demo(object):
self.sig_quit = True
if pressed[pygame.K_ESCAPE] or self.sig_quit:
running = False
self.clock.tick(config.MENU_FPS)
# Set to default pos before return?
if not self.controller.is_looping(1.0):
moves.reverse()
self.controller.exec_moves(moves, wait=False)
loopcount += 0.5
self._disptxt(["Running loop \"small pyramid\"", "Loopcount: %d" % math.floor(loopcount)])
self.controller.robot.stopj(acc)
def loop_init(self, block_init_msg, loopnum):