67 lines
2.0 KiB
Python
67 lines
2.0 KiB
Python
import math
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DEBUG = True
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# GUI
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SCREEN_DIM = (800, 600)
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FONTSIZE = 24
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BG_COL = (255,255,255) #white
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FONT_COL = (0,0,0) #black
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MENU_FPS = 15 # enough to poll keys efficiently
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# IP of the robot.
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UR5_IP = "129.241.187.119"
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# Enables force constraints on the tool. Note: Setting this to "True" involves
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# polling the UR5 through a real-time monitor that runs at 125Hz. If the controller
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# runs slow, try disabling this first.
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USE_FORCE_MONITOR = True
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# Control parameters.
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VELOCITY = 0.1
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ACCELERATION = 0.5
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DECELERATION = 0.5
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DEFAULT_LOOP_SPEED = 0.1
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LOOP_SPEED_MAX = 0.7
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LOOP_SPEED_MIN = 0.05
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# Block parameters
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BLOCK_DIM = 0.0995 #TODO measure
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# Table cylinder parameters
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TABLE_QUADRANT = 0 # In range [0..4). Quadrant 0 is along the x-axis of the robot.
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TABLE_ORIGO_OFFSET = -0.25 # TODO measure
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Z_TABLE = -0.336
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R_MIN = 0.6 # relative to TABLE center
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R_MAX = 0.9 # relative to TABLE center
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THETA_MIN= -math.pi/4 # table edge left
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THETA_MAX = math.pi/4 # table edge right
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Z_MIN = Z_TABLE + BLOCK_DIM/2
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Z_MAX = Z_MIN + 5*BLOCK_DIM
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# Block move parameters
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R_LVL0 = 0.7 # tip of tool at table edge
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Z_LVL0 = Z_MIN
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THETA_EDGE_LEFT = -math.pi/4 + math.pi/68
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THETA_EDGE_RIGHT = math.pi/4 - math.pi/68
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R_BLOCKMOVE_MARGIN = BLOCK_DIM + 0.05 # r margin before and after pick/place
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THETA_BLOCKMOVE_MARGIN = 0 # theta margin before and after pick/place
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Z_BLOCKMOVE_MARGIN = 0 # z margin before and after pick/place
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R_BLOCKMOVE_OFFSET = -0.01 # r start/end in place/pick. lift slightly inwards to avoid collision with other blocks
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THETA_BLOCKMOVE_OFFSET = 0 # theta start/end in place/pick
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Z_BLOCKMOVE_OFFSET = BLOCK_DIM*0.5 # z start/end in place/pick
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# Home quadrant joint configuration.
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# We need this expressed in joint space to ensure that the robot does not
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# collide with itself when moving to the base configuration.
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# This is also for fine-tuning the tool orientation
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QUADRANT_JOINT_CONFIG = [TABLE_QUADRANT*math.pi/2,
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-3*math.pi/4,
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-3*math.pi/4,
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-math.pi/2,
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-math.pi/2,
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49*math.pi/50]
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