224 lines
8.4 KiB
Python
Executable File
224 lines
8.4 KiB
Python
Executable File
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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import sys, config, math, time, traceback
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from ur5controller import DemoController
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def check_edges(controller):
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controller.movel(config.R_MIN, config.THETA_MAX, config.Z_MIN)
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print 'Right edge.'
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dummy = raw_input('Press any key to continue...')
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controller.movel(config.R_MIN, 0, config.Z_MIN)
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print 'Middle.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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controller.movel(config.R_MIN, config.THETA_MIN, config.Z_MIN)
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print 'Left edge.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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def test_movec(controller):
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controller.movec(config.R_MIN, config.THETA_MAX, config.Z_MIN)
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print 'Right edge.'
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dummy = raw_input('Press any key to continue...')
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controller.movec(config.R_MIN, 0, config.Z_MIN)
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print 'Middle.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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controller.movec(config.R_MIN, config.THETA_MIN, config.Z_MIN)
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print 'Left edge.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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def test_movec_hax(controller):
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controller.movec_hax(config.R_MIN, config.THETA_MAX, config.Z_MIN)
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print 'Right edge.'
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dummy = raw_input('Press any key to continue...')
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controller.movec_hax(config.R_MIN, 0, config.Z_MIN)
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print 'Middle.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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controller.movec_hax(config.R_MIN, config.THETA_MIN, config.Z_MIN)
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print 'Left edge.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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def test_movec_hax2(controller):
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controller.movec_hax(config.R_MIN, config.THETA_MAX, config.Z_MIN)
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print 'Right edge.'
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dummy = raw_input('Press any key to continue...')
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controller.movec_hax(config.R_MIN, 0, config.Z_MIN+0.3)
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print 'Middle.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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# NOTE: current R_MIN+0.1=0.7 is where the tooltip is at the edge
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controller.movec_hax(config.R_MIN+0.1, config.THETA_MIN, config.Z_MIN+0.1)
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print 'Left edge.'
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time.sleep(1)
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dummy = raw_input('Press any key to continue...')
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def check_theta_edges(controller):
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controller.movec_hax(config.R_LVL0 - config.BLOCK_DIM, config.THETA_EDGE_RIGHT, config.Z_MIN)
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controller.movel(config.R_LVL0 - config.BLOCK_DIM, config.THETA_EDGE_RIGHT, config.Z_MIN)
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print 'Theta edge right.'
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dummy = raw_input('Press any key to continue...')
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controller.movec_hax(config.R_LVL0 - config.BLOCK_DIM, config.THETA_EDGE_LEFT, config.Z_MIN)
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controller.movel(config.R_LVL0 - config.BLOCK_DIM, config.THETA_EDGE_LEFT, config.Z_MIN)
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print 'Theta edge left.'
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dummy = raw_input('Press any key to continue...')
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def test_pick_place(controller):
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dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 + math.pi/64 #medium gap
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# #dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 #small gap
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#dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 - math.pi/200#no gap
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# Initial: 1x2 left side
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#speed = 0.7
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speed = 0.2
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moves = []
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moves += controller.pick_block(1, config.THETA_EDGE_LEFT, 0, speed)
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moves += controller.place_block(0, dtheta_lvl0/2, 0, speed)
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moves += controller.pick_block(0, config.THETA_EDGE_LEFT, 0, speed)
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moves += controller.place_block(0, -dtheta_lvl0/2, 0, speed)
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controller.movels(moves, wait=False)
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looping = True
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while looping:
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looping = controller.is_looping(1.0) # blocks for 1 sec
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moves.reverse()
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controller.movels(moves, wait=True)
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# Shit is smooth!
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def small_pyramid(controller):
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# Initial block placement.
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# On each side
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# (r0, edge, z0)
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# (r1, edge, z0)
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# (r0, edge, z1)
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dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 + math.pi/64 #medium gap
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speed = 0.2
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acc = config.ACCELERATION
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moves = []
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# Pick left (r0, edge, z1), place in middle
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moves += controller.pick_block(0, config.THETA_EDGE_LEFT, 1, speed)
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tmp_pose = controller.blocklvl2pose(0.2, -dtheta_lvl0, 1.1)
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moves.append(tmp_pose + [acc, speed, 0.05])
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moves += controller.place_block(0, 0, 0, speed)
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# Pick left (r1, edge, z0), place left
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moves += controller.pick_block(1, config.THETA_EDGE_LEFT, 0, speed)
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tmp_pose = controller.blocklvl2pose(1.1, config.THETA_EDGE_LEFT+dtheta_lvl0, 0.5)
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moves.append(tmp_pose + [acc, speed, 0.05])
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moves += controller.place_block(0, -dtheta_lvl0, 0, speed)
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# Pick right (r0, edge, z1), place right
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tmp_pose = controller.blocklvl2pose(1.3, config.THETA_EDGE_RIGHT-dtheta_lvl0, 1.2)
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moves.append(tmp_pose + [acc, speed, 0.05])
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#moves += controller.blocklvl2arc(1.3, config.THETA_EDGE_RIGHT - math.pi/16, 1, vel=speed, blend_last=0.03)
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moves += controller.pick_block(0, config.THETA_EDGE_RIGHT, 1, speed)
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tmp_pose = controller.blocklvl2pose(0, config.THETA_EDGE_RIGHT-dtheta_lvl0, 1.2)
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moves.append(tmp_pose + [acc, speed, 0.03])
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moves += controller.place_block(0, dtheta_lvl0, 0, speed)
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# Pick right (r1, edge, z0), place lvl1 right
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moves += controller.pick_block(1, config.THETA_EDGE_RIGHT, 0, speed)
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tmp_pose = controller.blocklvl2pose(1.1, config.THETA_EDGE_RIGHT-dtheta_lvl0, 1.1)
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moves.append(tmp_pose + [acc, speed, 0.03])
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moves += controller.place_block(0, 0.5*dtheta_lvl0, 1, speed)
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# Pick left (r0, edge, z0), place lvl1 left
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moves += controller.blocklvl2arc(1.3, config.THETA_EDGE_LEFT + math.pi/16, 0.1, vel=speed, blend_last=0.03)
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moves += controller.pick_block(0, config.THETA_EDGE_LEFT, 0, speed)
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tmp_pose = controller.blocklvl2pose(0, config.THETA_EDGE_LEFT+dtheta_lvl0, 1.1)
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moves.append(tmp_pose + [acc, speed, 0.03])
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moves += controller.place_block(0, -0.5*dtheta_lvl0, 1, speed)
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# Pick right (r0, edge, z0), place on top
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moves += controller.blocklvl2arc(1.3, config.THETA_EDGE_RIGHT - math.pi/16, 0, vel=speed, blend_last=0.03)
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moves += controller.pick_block(0, config.THETA_EDGE_RIGHT, 0, speed)
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tmp_pose = controller.blocklvl2pose(0, config.THETA_EDGE_RIGHT-dtheta_lvl0, 2.1)
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moves.append(tmp_pose + [acc, speed, 0.03])
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moves += controller.place_block(0, 0, 2, speed)
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# Execute moves
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controller.movels(moves, wait=False)
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looping = True
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while looping:
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looping = controller.is_looping(1.0) # blocks for 1 sec
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moves.reverse()
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controller.movels(moves, wait=True)
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looping = True
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while looping:
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looping = controller.is_looping(1.0) # blocks for 1 sec
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def big_pyramid(controller):
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dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 + math.pi/64 #medium gap
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#dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 #small gap
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#dtheta_lvl0 = config.BLOCK_DIM / config.R_LVL0 - math.pi/200#no gap
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# Initial block placement.
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# On each side
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# (r0, edge, z0)
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# (r1, edge, z0)
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# (r0, edge, z1)
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# (r1, edge, z1)
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# (r0, edge, z2)
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# (r1, edge, z2)
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speed = 0.2
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moves = []
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#move += controller.blocklvl2arc(0, config.THETA_EDGE_LEFT + math.pi/16, 1, vel=speed, blend_last=0.03)
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moves += controller.pick_block(0, config.THETA_EDGE_LEFT, 1, speed) # Pick left (r0, edge, z1)
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moves += controller.place_block(0, -0.5*dtheta_lvl0, 0)
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moves += controller.pick_block(1, config.THETA_EDGE_LEFT, 0, speed) # Pick left (r1, edge, z0)
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moves += controller.place_block(0, -1.5*dtheta_lvl0, 0)
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moves += controller.blocklvl2arc(0.1, config.THETA_EDGE_RIGHT - math.pi/16, 1, vel=speed, blend_last=0.03)
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moves += controller.pick_block(0, config.THETA_EDGE_RIGHT, 1, speed) # Pick right (r0, edge, z1)
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moves += controller.place_block(0, 0.5*dtheta_lvl0, 0)
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moves += controller.pick_block(1, config.THETA_EDGE_RIGHT, 0, speed) # Pick right (r1, edge, z0)
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moves += controller.place_block(0, 1.5*dtheta_lvl0, 0)
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if __name__ == '__main__':
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controller = None
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try:
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controller = DemoController(config)
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controller.calibrate_csys()
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#controller.movel(config.R_LVL0, 0, config.Z_MIN + config.BLOCK_DIM)
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#check_edges(controller)
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#test_movec_hax(controller)
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#check_theta_edges(controller)
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#test_pick_place(controller)
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#pick_place_small_pyramid(controller)
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small_pyramid(controller)
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# NEXT: test radial params and arbitrary paths.
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except Exception, e:
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print e
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print traceback.format_exc()
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time.sleep(1)
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if controller:
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controller.cleanup()
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sys.exit(1)
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