339 lines
11 KiB
Python
Executable File
339 lines
11 KiB
Python
Executable File
#!/usr/bin/env python
|
|
# -*- coding: utf-8 -*-
|
|
|
|
import sys, config, math, time, traceback
|
|
from ur5controller import DemoController
|
|
|
|
|
|
def check_z_levels(controller):
|
|
print 'Going to home pose.'
|
|
controller.move_to_home_pose()
|
|
time.sleep(1)
|
|
|
|
r, theta, z = controller.current_cyl
|
|
|
|
print "z-level 0"
|
|
z = config.Z_LVL0
|
|
move = controller.cylinder2cartesian(r, theta, z) + [0.2, 0.1, 0]
|
|
controller.exec_move(move, wait=True)
|
|
controller.set_cylinder_coords()
|
|
dummy = raw_input('Press any key to continue...')
|
|
|
|
print "z-level 1"
|
|
z += config.BLOCK_DIM
|
|
move = controller.cylinder2cartesian(r, theta, z) + [0.2, 0.1, 0]
|
|
controller.exec_move(move, wait=True)
|
|
controller.set_cylinder_coords()
|
|
dummy = raw_input('Press any key to continue...')
|
|
|
|
print "z-level 2"
|
|
z += config.BLOCK_DIM
|
|
move = controller.cylinder2cartesian(r, theta, z) + [0.2, 0.1, 0]
|
|
controller.exec_move(move, wait=True)
|
|
controller.set_cylinder_coords()
|
|
dummy = raw_input('Press any key to continue...')
|
|
|
|
print "z-level 3"
|
|
z += config.BLOCK_DIM
|
|
move = controller.cylinder2cartesian(r, theta, z) + [0.2, 0.1, 0]
|
|
controller.exec_move(move, wait=True)
|
|
controller.set_cylinder_coords()
|
|
dummy = raw_input('Press any key to continue...')
|
|
|
|
print "z-level 4"
|
|
z += config.BLOCK_DIM
|
|
move = controller.cylinder2cartesian(r, theta, z) + [0.2, 0.1, 0]
|
|
controller.exec_move(move, wait=True)
|
|
controller.set_cylinder_coords()
|
|
dummy = raw_input('Press any key to continue...')
|
|
|
|
|
|
def test_unitary_moves(controller):
|
|
print 'Going to home pose.'
|
|
controller.move_to_home_pose()
|
|
time.sleep(1)
|
|
|
|
print 'Moving (+r, 0, 0)'
|
|
controller.move((1,0,0), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (-r, 0, 0)'
|
|
controller.move((-1,0,0), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (0, +theta, 0)'
|
|
controller.move((0,1,0), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (0, -theta, 0)'
|
|
controller.move((0,-1,0), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (0, 0, +z)'
|
|
controller.move((0,0,1), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (0, 0, -z)'
|
|
controller.move((0,0,-1), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
|
|
def test_multi_moves(controller):
|
|
print 'Going to home pose.'
|
|
controller.move_to_home_pose()
|
|
time.sleep(1)
|
|
|
|
print 'Moving (+r, +theta, 0)'
|
|
controller.move((1,1,0), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (-r, -theta, 0)'
|
|
controller.move((-1,-1,0), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (+r, -theta, 0)'
|
|
controller.move((1,-1,0), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (+r, 0, z)'
|
|
controller.move((1,0,1), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (-r, 0, z)'
|
|
controller.move((-1,0,1), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (0, theta, -z)'
|
|
controller.move((0,1,-1), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (0, -theta, -z)'
|
|
controller.move((0,-1,-1), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (r, theta, z)'
|
|
controller.move((1,1,1), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
print 'Moving (-r, theta, -z)'
|
|
controller.move((-1,1,-1), t=2)
|
|
time.sleep(1)
|
|
controller.set_cylinder_coords()
|
|
|
|
|
|
def check_loop_constraints(controller):
|
|
print 'Going to home pose.'
|
|
controller.move_to_home_pose()
|
|
time.sleep(1)
|
|
|
|
controller.movec_hax(config.R_LVL0, config.THETA_EDGE_RIGHT, config.Z_LVL0, wait=True)
|
|
controller.set_cylinder_coords()
|
|
print 'Right edge, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
|
|
dummy = raw_input('Press any key to continue...')
|
|
|
|
controller.movec_hax(config.R_LVL0, 0, config.Z_LVL0, wait=True)
|
|
controller.set_cylinder_coords()
|
|
print 'Middle, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
|
|
dummy = raw_input('Press any key to continue...')
|
|
|
|
controller.movec_hax(config.R_LVL0, config.THETA_EDGE_LEFT, config.Z_LVL0, wait=True)
|
|
controller.set_cylinder_coords()
|
|
print 'Left edge, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
|
|
dummy = raw_input('Press any key to continue...')
|
|
|
|
|
|
def test_movec(controller):
|
|
print 'Going to home pose.'
|
|
controller.move_to_home_pose()
|
|
time.sleep(1)
|
|
|
|
controller.movec(config.R_LVL0, config.THETA_EDGE_RIGHT, config.Z_LVL0, wait=True)
|
|
controller.set_cylinder_coords()
|
|
print 'Right edge, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
|
|
dummy = raw_input('Press any key to continue...')
|
|
|
|
controller.movec(config.R_LVL0, 0, config.Z_LVL0, wait=True)
|
|
controller.set_cylinder_coords()
|
|
print 'Middle, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
|
|
dummy = raw_input('Press any key to continue...')
|
|
|
|
controller.movec(config.R_LVL0, config.THETA_EDGE_LEFT, config.Z_LVL0, wait=True)
|
|
controller.set_cylinder_coords()
|
|
print 'Left edge, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
|
|
dummy = raw_input('Press any key to continue...')
|
|
|
|
|
|
|
|
def four_stories(controller):
|
|
print "Initial block placement."
|
|
print "On each side"
|
|
print "\t(r0, edge, z0)"
|
|
print "\t(r1, edge, z0)"
|
|
|
|
# buffer some params
|
|
edge_left = config.THETA_EDGE_LEFT
|
|
edge_right = config.THETA_EDGE_RIGHT
|
|
r_startpick = 1.3
|
|
r_endpick = 0.1
|
|
z_endpick = 0.5
|
|
|
|
vel = 0.2
|
|
acc = 1.1*vel
|
|
moves = []
|
|
|
|
moves.append(controller.blocklevel2move(0.5, 0, 0, acc, vel, 0))
|
|
moves += controller.pick_block(1, edge_left, 0, acc, vel)
|
|
moves += controller.place_block(0, 0, 0, acc, vel)
|
|
|
|
moves += controller.pick_block(1, edge_right, 0, acc, vel)
|
|
moves.append(controller.blocklevel2move(1.1, edge_right/2, 2, acc, vel, 0.15))
|
|
moves += controller.place_block(0, 0, 1, acc, vel)
|
|
|
|
moves += controller.pick_block(0, edge_left, 0, acc, vel)
|
|
moves.append(controller.blocklevel2move(0.1, edge_left/2, 3, acc, vel, 0.15))
|
|
moves += controller.place_block(0, 0, 2, acc, vel)
|
|
|
|
moves += controller.pick_block(0, edge_right, 0, acc, vel)
|
|
moves.append(controller.blocklevel2move(0.1, edge_right/2, 4, acc, vel, 0.15))
|
|
moves += controller.place_block(0, 0, 3, acc, vel)
|
|
|
|
moves.append(controller.blocklevel2move(1.5, 0, 0.1, acc, vel, 0))
|
|
|
|
dummy = raw_input("Press enter to start...")
|
|
print 'Exectuting loop'
|
|
controller.exec_moves(moves, wait=False)
|
|
looping = True
|
|
while looping:
|
|
looping = controller.is_looping(1.0) # blocks for 1 sec
|
|
|
|
moves.reverse()
|
|
controller.exec_moves(moves, wait=False)
|
|
looping = True
|
|
while looping:
|
|
looping = controller.is_looping(1.0) # blocks for 1 sec
|
|
|
|
|
|
def small_pyramid(controller):
|
|
print "Initial block placement."
|
|
print "On each side"
|
|
print "\t(r0, edge, z0)"
|
|
print "\t(r1, edge, z0)"
|
|
print "\t(r0, edge, z1)"
|
|
|
|
# buffer some params
|
|
edge_left = config.THETA_EDGE_LEFT
|
|
edge_right = config.THETA_EDGE_RIGHT
|
|
r_startpick = 1.3
|
|
r_endpick = 0.1
|
|
z_endpick = 0.5
|
|
|
|
vel = 0.2
|
|
acc = 1.1*vel
|
|
dtheta_lvl0 = config.BLOCK_DIM/config.R_LVL0 + math.pi/64 #medium gap
|
|
moves = []
|
|
|
|
moves.append(controller.blocklevel2move(0.5, 0, 0, acc, vel, 0)) #initial
|
|
moves += controller.pick_block(0, edge_left, 1, acc, vel)
|
|
moves.append(controller.blocklevel2move(0.1, edge_left/2, 2, acc, vel, 0.15))
|
|
moves += controller.place_block(0, 0, 0, acc, vel)
|
|
|
|
moves += controller.pick_block(0, edge_right, 1, acc, vel)
|
|
moves.append(controller.blocklevel2move(0.1, (edge_right+dtheta_lvl0)/2, 2, acc, vel, 0.15))
|
|
moves += controller.place_block(0, dtheta_lvl0, 0, acc, vel)
|
|
|
|
moves.append(controller.blocklevel2move(1.1, (edge_left+dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
|
|
moves += controller.pick_block(1, edge_left, 0, acc, vel)
|
|
moves += controller.place_block(0, -dtheta_lvl0, 0, acc, vel)
|
|
|
|
moves.append(controller.blocklevel2move(1.1, (edge_right-dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
|
|
moves += controller.pick_block(1, edge_right, 0, acc, vel)
|
|
moves.append(controller.blocklevel2move(1.1, edge_right/2, 2, acc, vel, 0.15))
|
|
moves += controller.place_block(0, 0.5*dtheta_lvl0, 1, acc, vel)
|
|
|
|
moves += controller.pick_block(0, edge_left, 0, acc, vel)
|
|
moves.append(controller.blocklevel2move(0.1, edge_left/2, 2, acc, vel, 0.15))
|
|
moves += controller.place_block(0, -0.5*dtheta_lvl0, 1, acc, vel)
|
|
|
|
moves.append(controller.blocklevel2move(1.1, (edge_right-dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
|
|
moves += controller.pick_block(0, edge_right, 0, acc, vel)
|
|
moves.append(controller.blocklevel2move(0.1, edge_right/2, 3, acc, vel, 0.15))
|
|
moves += controller.place_block(0, 0, 2, acc, vel)
|
|
|
|
moves.append(controller.blocklevel2move(1.5, 0, 0.1, acc, vel, 0))
|
|
|
|
dummy = raw_input("Press enter to start...")
|
|
print 'Exectuting loop'
|
|
controller.exec_moves(moves, wait=False)
|
|
looping = True
|
|
while looping:
|
|
looping = controller.is_looping(1.0) # blocks for 1 sec
|
|
|
|
moves.reverse()
|
|
controller.exec_moves(moves, wait=False)
|
|
looping = True
|
|
while looping:
|
|
looping = controller.is_looping(1.0) # blocks for 1 sec
|
|
|
|
|
|
|
|
def unit_tests(func_list, controller):
|
|
running = True
|
|
while running:
|
|
for i,tup in enumerate(func_list):
|
|
print '(%d) %s' % (i, tup[0])
|
|
c = raw_input('Select test or type q to quit... ')
|
|
if c == 'q':
|
|
running = False
|
|
else:
|
|
try:
|
|
idx = int(c)
|
|
f = func_list[idx][1]
|
|
f(controller)
|
|
except Exception, e:
|
|
print e
|
|
print traceback.format_exc()
|
|
running = False
|
|
|
|
|
|
if __name__ == '__main__':
|
|
controller = None
|
|
print "Initializing..."
|
|
try:
|
|
controller = DemoController(config)
|
|
controller.set_freedrive(False)
|
|
time.sleep(1)
|
|
controller.calibrate_cylinder_sys()
|
|
except Exception, e:
|
|
print e
|
|
print traceback.format_exc()
|
|
|
|
tests = [
|
|
("Check z-levels", check_z_levels),
|
|
("Test unitary moves.", test_unitary_moves),
|
|
("Test multi-directional moves", test_multi_moves),
|
|
("Check loop constraints and block positions", check_loop_constraints),
|
|
("Test URScript's movec", test_movec),
|
|
("Build four stories high", four_stories),
|
|
("Build small pyramid", small_pyramid)
|
|
]
|
|
unit_tests(tests, controller)
|
|
|
|
time.sleep(1)
|
|
if controller:
|
|
controller.cleanup()
|
|
sys.exit(0)
|