michael/ur5demo
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
ur5demo/urx/robot.py

652 lines
22 KiB
Python
Raw Blame History

"""
Python library to control an UR robot through its TCP/IP interface
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 2011-2013, Sintef Raufoss Manufacturing"
__license__ = "GPLv3"
import logging
MATH3D = True
try:
import math3d as m3d
import numpy as np
except ImportError:
MATH3D = False
print 'asdfasdf'
print("python-math3d library could not be found on this computer, disabling use of matrices and path blending")
from urx import urrtmon
from urx import ursecmon
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 get_force 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, parserLogLevel=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.csys = None
self.logger.info("Opening secondary monitor socket")
self.secmon = ursecmon.SecondaryMonitor(self.host, logLevel=logLevel, parserLogLevel=parserLogLevel) #data from robot at 10Hz
self.rtmon = None
if useRTInterface:
self.rtmon = self.get_realtime_monitor()
#the next 3 values must be conservative! otherwise we may wait forever
self.joinEpsilon = 0.01 # precision of joint movem used to wait for move completion
# It seems URScript is limited in the character length of floats it accepts
self.max_float_length = 6 # FIXME: check max length!!!
self.secmon.wait() # make sure we get data from robot before letting clients access our methods
def __repr__(self):
return "Robot Object (IP=%s, state=%s)" % (self.host, self.secmon.get_all_data()["RobotModeData"])
def __str__(self):
return self.__repr__()
def is_running(self): # legacy
return self.secmon.running
def is_program_running(self):
return self.secmon.is_program_running()
def send_program(self, prog):
self.logger.info("Sending program: " + prog)
self.secmon.send_program(prog)
def get_tcp_force(self, wait=True):
"""
return measured force in TCP
if wait==True, waits for next packet before returning
"""
return self.rtmon.getTCFForce(wait)
def get_force(self, wait=True):
"""
length of force vector returned by get_tcp_force
if wait==True, waits for next packet before returning
"""
tcpf = self.get_tcp_force( wait)
force = 0
for i in tcpf:
force += i**2
return force**0.5
def set_tcp(self, tcp):
"""
set robot flange to tool tip transformation
"""
prog = "set_tcp(p[{}, {}, {}, {}, {}, {}])".format(*tcp)
self.send_program(prog)
def set_payload(self, weight, cog=None):
"""
set payload in Kg
cog is a vector x,y,z
if cog is not specified, then tool center point is used
"""
if cog:
cog = list(cog)
cog.insert(0, weight)
prog = "set_payload({}, ({},{},{}))".format(*cog)
else:
prog = "set_payload(%s)" % weight
self.send_program(prog)
def set_gravity(self, vector):
"""
set direction of gravity
"""
prog = "set_gravity(%s)" % list(vector)
self.send_program(prog)
def send_message(self, msg):
"""
send message to the GUI log tab on the robot controller
"""
prog = "textmsg(%s)" % msg
self.send_program(prog)
def set_digital_out(self, output, val):
"""
set digital output. val is a bool
"""
if val in (True, 1):
val = "True"
else:
val = "False"
self.send_program('digital_out[%s]=%s' % (output, val))
def get_analog_inputs(self):
"""
get analog input
"""
return self.secmon.get_analog_inputs()
def get_analog_in(self, nb, wait=False):
"""
get analog input
"""
return self.secmon.get_analog_in(nb, wait=wait)
def get_digital_in_bits(self):
"""
get digital output
"""
return self.secmon.get_digital_in_bits()
def get_digital_in(self, nb, wait=False):
"""
get digital output
"""
return self.secmon.get_digital_in(nb, wait)
def get_digital_out(self, val, wait=False):
"""
get digital output
"""
return self.secmon.get_digital_out(val , wait=wait)
def set_analog_out(self, output, val):
"""
set analog output, val is a float
"""
prog = "set_analog_output(%s, %s)" % (output, val)
self.send_program(prog)
def set_tool_voltage(self, val):
"""
set voltage to be delivered to the tool, val is 0, 12 or 24
"""
prog = "set_tool_voltage(%s)" % (val)
self.send_program(prog)
def wait_for_move(self, radius=0, target=None):
"""
wait until a move is completed
if radius is not 0, returns when tcp is radius closed to target(using mathd3d dist method)
"""
self.logger.debug("Waiting for move completion")
# it is necessary to wait since robot may takes a while to get into running state,
# for a physical move 0.5s is very short
for _ in range(3):
self.secmon.wait()
if not radius or not MATH3D:
return self._wait_for_move()
else:
return self._wait_for_move_radius(radius, target)
def _wait_for_move(self):
while True:
if not self.is_running():
raise RobotException("Robot stopped")
jts = self.secmon.get_joint_data(wait=True)
finished = True
for i in range(0, 6):
#Rmq: q_target is an interpolated target we have no control over
if abs(jts["q_actual%s"%i] - jts["q_target%s"%i]) > self.joinEpsilon:
self.logger.debug("Waiting for end move, q_actual is {}, q_target is {}, diff is {}, epsilon is {}".format( jts["q_actual%s"%i], jts["q_target%s"%i] , jts["q_actual%s"%i] - jts["q_target%s"%i], self.joinEpsilon))
finished = False
break
if finished and not self.secmon.is_program_running():
self.logger.debug("move has ended")
return
def _wait_for_move_radius(self, radius, target):
print("Wait move with radius")
target = m3d.Transform(target)
while True:
if not self.is_running():
raise RobotException("Robot stopped")
pose = self.get_pose(wait=True)
dist = pose.dist(target)
print("dist is ", dist, radius)
if (dist < radius) or not self.secmon.is_program_running():
self.logger.debug("move has ended")
return
def dist(self, poseA, poseB):
"""
Return the metric distance between two poses as unweighted combined linear
and angular distance.
This would be better not to rely on math3d just for that method...
"""
raise NotImplementedError
def getj(self, wait=False):
"""
get joints position
"""
jts = self.secmon.get_joint_data(wait)
return [jts["q_actual0"], jts["q_actual1"], jts["q_actual2"], jts["q_actual3"], jts["q_actual4"], jts["q_actual5"]]
def speedl(self, velocities, acc, min_time):
"""
move at given velocities until minimum min_time seconds
"""
vels = [round(i, self.max_float_length) for i in velocities]
vels.append(acc)
vels.append(min_time)
prog = "speedl([{},{},{},{},{},{}], a={}, t_min={})".format(*vels)
self.send_program(prog)
def speedj(self, velocities, acc, min_time):
"""
move at given joint velocities until minimum min_time seconds
"""
vels = [round(i, self.max_float_length) for i in velocities]
vels.append(acc)
vels.append(min_time)
prog = "speedj([{},{},{},{},{},{}], a={}, t_min={})".format(*vels)
self.send_program(prog)
def movej(self, joints, acc=0.1, vel=0.05, radius=0, wait=True, relative=False):
"""
move in joint space
"""
if relative:
l = self.getj()
joints = [v + l[i] for i, v in enumerate(joints)]
joints = [round(j, self.max_float_length) for j in joints]
joints.append(acc)
joints.append(vel)
joints.append(radius)
prog = "movej([{},{},{},{},{},{}], a={}, v={}, r={})".format(*joints)
self.send_program(prog)
if not wait:
return None
else:
self.wait_for_move(radius, joints[:6])
return self.getj()
def movel(self, tpose, acc=0.01, vel=0.01, radius=0, wait=True, relative=False):
"""
linear move
"""
if relative:
l = self.getl()
tpose = [v + l[i] for i, v in enumerate(tpose)]
tpose = [round(i, self.max_float_length) for i in tpose]
#prog = "movel(p%s, a=%s, v=%s)" % (tpose, acc, vel)
tpose.append(acc)
tpose.append(vel)
tpose.append(radius)
prog = "movel(p[{},{},{},{},{},{}], a={}, v={}, r={})".format(*tpose)
self.send_program(prog)
if not wait:
return None
else:
self.wait_for_move(radius, tpose[:6])
return self.getl()
def movep(self, tpose, acc=0.01, vel=0.01, radius=0, wait=True, relative=False):
"""
Send a movep command to the robot. See URScript documentation.
From URX the main advantage of movep is that it allows for path blending if
math3d is installed (BROKEN!)
"""
if relative:
l = self.getl()
tpose = [v + l[i] for i, v in enumerate(tpose)]
tpose = [round(i, self.max_float_length) for i in tpose]
#prog = "movel(p%s, a=%s, v=%s)" % (tpose, acc, vel)
tpose.append(acc)
tpose.append(vel)
tpose.append(radius)
prog = "movep(p[{},{},{},{},{},{}], a={}, v={}, r={})".format(*tpose)
self.send_program(prog)
if not wait:
return None
else:
self.wait_for_move(radius, tpose[:6])
return self.getl()
def getl(self, wait=False):
"""
get TCP position
"""
pose = self.secmon.get_cartesian_info(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 get_pose(self, wait=False):
return self.getl(wait)
def movec(self, pose_via, pose_to, acc=0.01, vel=0.01, radius=0, wait=True):
"""
Move Circular: Move to position (circular in tool-space)
see UR documentation
"""
pose_via = [round(i, self.max_float_length) for i in pose_via]
pose_to = [round(i, self.max_float_length) for i in pose_to]
prog = "movec(p%s, p%s, a=%s, v=%s, r=%s)" % (pose_via, pose_to, acc, vel, radius)
self.send_program(prog)
if not wait:
return None
else:
self.wait_for_move(radius, pose_to)
return self.getl()
def movels(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True):
"""
Concatenate several movel commands and applies a blending radius
pose_list is a list of pose.
"""
header = "def myProg():\n"
end = "end\n"
template = "movel(p[{},{},{},{},{},{}], a={}, v={}, r={})\n"
prog = header
for idx, pose in enumerate(pose_list):
pose.append(acc)
pose.append(vel)
if idx != (len(pose_list) -1 ):
pose.append(radius)
else:
pose.append(0)
prog += template.format(*pose)
prog += end
self.send_program(prog)
if not wait:
return None
else:
self.wait_for_move()
return self.getl()
def stopl(self, acc = 0.5):
self.send_program("stopl(%s)" % acc)
def stopj(self, acc = 1.5):
self.send_program("stopj(%s)" % acc)
def stop(self):
self.stopj()
def cleanup(self):
self.logger.info("Closing sockets to robot")
self.secmon.cleanup()
if self.rtmon:
self.rtmon.stop()
shutdown = cleanup #this might be wrong since we could also shutdown the robot hardware from this script
def set_freedrive(self, val):
if val:
self.send_program("set robotmode freedrive")
else:
self.send_program("set robotmode run")
def set_simulation(self, val):
if val:
self.send_program("set sim")
else:
self.send_program("set real")
def get_realtime_monitor(self):
"""
return a pointer to the realtime monitor object
usefull to track robot position for example
"""
if not self.rtmon:
self.logger.info("Opening real-time monitor socket")
self.rtmon = urrtmon.URRTMonitor(self.host)# som information is only available on rt interface
self.rtmon.start()
self.rtmon.set_csys(self.csys)
return self.rtmon
class Robot(URRobot):
"""
Generic Python interface to an industrial robot.
Compared to the URRobot class, this class adds the possibilty to work directly with matrices
and includes support for calibrating the robot coordinate system
"""
def __init__(self, host, useRTInterface=False, logLevel = logging.WARN, parserLogLevel=logging.WARN):
URRobot.__init__(self, host, useRTInterface, logLevel=logLevel, parserLogLevel=parserLogLevel)
self.default_linear_acceleration = 0.01
self.default_linear_velocity = 0.01
self.csys_dict = {}
self.csys = None
self.csys_inv = None
self.set_csys("Robot", m3d.Transform()) #identity
def set_tcp(self, tcp):
if type(tcp) == m3d.Transform:
tcp = tcp.pose_vector
URRobot.set_tcp(self, tcp)
def add_csys(self, name, matrix):
self.csys_dict[name] = matrix
def get_csys_list(self):
return self.csys_dict
def set_csys(self, name, matrix=None):
"""
Set reference corrdinate system to use
if matrix != None then a new csys is created
"""
if matrix:
self.add_csys(name, matrix)
self.csys = self.csys_dict[name]
self.csys_inv = self.csys.inverse()
def orient(self, orient, acc=None, vel=None, radius=0, wait=True):
if type(orient) is not m3d.Orientation:
orient = m3d.Orientation(orient)
trans = self.get_transform()
trans.orient = orient
self.apply_transform(trans, acc, vel, radius, wait=wait)
set_orientation = orient
def translate(self, vect, acc=None, vel=None, radius=0, wait=True):
"""
move tool in base coordinate, keeping orientation
"""
t = m3d.Transform()
if not type(vect) is m3d.Vector:
vect = m3d.Vector(vect)
t.pos += m3d.Vector(vect)
return self.add_transform_base(t, acc, vel, radius, wait=wait)
def translate_tool(self, vect, acc=None, vel=None, radius=0, wait=True):
"""
move tool in tool coordinate, keeping orientation
"""
t = m3d.Transform()
if not type(vect) is m3d.Vector:
vect = m3d.Vector(vect)
t.pos += vect
return self.add_transform_tool(t, acc, vel, radius, wait=wait)
def set_pos(self, vect, acc=None, vel=None, radius=0, wait=True):
"""
set tool to given pos, keeping constant orientation
"""
if not type(vect) is m3d.Vector:
vect = m3d.Vector(vect)
trans = m3d.Transform(self.get_orientation(), m3d.Vector(vect))
return self.apply_transform(trans, acc, vel, radius, wait=wait)
def apply_transform(self, trans, acc=None, vel=None, radius=0, wait=True, process=False):
"""
move tcp to point and orientation defined by a transformation
if process is True, movep is used instead of movel
if radius is not 0 and wait is True, the method will return when tcp
is radius close to the target. It is then possible to send another command
and the controller will blend the path. Blending only works with process(movep). (BROKEN!)
"""
if not acc:
acc = self.default_linear_acceleration
if not vel:
vel = self.default_linear_velocity
t = self.csys * trans
if process:
pose = URRobot.movep(self, t.pose_vector, acc=acc, vel=vel, wait=wait, radius=radius)
else:
pose = URRobot.movel(self, t.pose_vector, acc=acc, vel=vel, wait=wait, radius=radius)
if pose != None : #movel does not return anything when wait is False
return self.csys_inv * m3d.Transform(pose)
set_transform = apply_transform #since we have set_pos, set_orient, we should be consistent and use set for tranform to ..
def add_transform_base(self, trans, acc=None, vel=None, radius=0, wait=True, process=False):
"""
Add transform expressed in base coordinate
"""
pose = self.get_transform()
return self.apply_transform(trans * pose, acc, vel, radius, wait=wait, process=process)
def add_transform_tool(self, trans, acc=None, vel=None, radius=0, wait=True, process=False):
"""
Add transform expressed in tool coordinate
"""
pose = self.get_transform()
return self.apply_transform(pose * trans, acc, vel, radius, wait=wait, process=process)
def get_transform(self, wait=False):
"""
get current transform from base to to tcp
"""
pose = URRobot.getl(self, wait)
trans = self.csys_inv * m3d.Transform(pose)
return trans
def get_pose(self, wait=False):
"""
get current transform from base to to tcp
"""
return self.get_transform(wait)
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 speedl(self, velocities, acc, min_time):
"""
move at given velocities until minimum min_time seconds
"""
v = self.csys.orient * m3d.Vector(velocities[:3])
w = self.csys.orient * m3d.Vector(velocities[3:])
URRobot.speedl(self, np.concatenate((v.data, w.data)), acc, min_time)
def speedl_tool(self, velocities, acc, min_time):
"""
move in tool coordinate at given velocities until minimum min_time seconds
"""
pose = self.get_transform()
v = self.csys.orient * pose.orient * m3d.Vector(velocities[:3])
w = self.csys.orient * pose.orient * m3d.Vector(velocities[3:])
URRobot.speedl(self, np.concatenate((v.data, w.data)), acc, min_time)
def movel(self, pose, acc=None, vel=None, wait=True, relative=False, radius=0.01):
"""
move linear to given pose in current csys
if pose is a list of poses then movels is called
"""
t = m3d.Transform(pose)
if relative:
return self.add_transform_base(t, acc, vel, wait=wait, process=False)
else:
return self.apply_transform(t, acc, vel, radius, wait=wait, process=False)
def movec(self, pose_via, pose_to, acc=0.01, vel=0.01, radius=0, wait=True):
"""
Move Circular: Move to position (circular in tool-space)
see UR documentation
"""
via = self.csys * m3d.Transform(pose_via)
to = self.csys * m3d.Transform(pose_to)
return URRobot.movec(self, via.pose_vector, to.pose_vector, acc=acc, vel=vel, radius=radius, wait=wait)
def movel_tool(self, pose, acc=None, vel=None, wait=True):
"""
move linear to given pose in tool coordinate
"""
t = m3d.Transform(pose)
self.add_transform_tool(t, acc, vel, wait=wait, process=False)
def movep(self, pose, acc=None, vel=None, radius=0, wait=True, relative=False):
pose = m3d.Transform(pose)
if relative:
return self.add_transform_base(pose, acc, vel, wait=wait, process=True, radius=radius)
else:
return self.apply_transform(pose, acc, vel, wait=wait, process=True, radius=radius)
def getl(self, wait=False):
"""
return current transformation from tcp to current csys
"""
t = self.get_transform(wait)
return t.pose_vector.tolist()
def movels(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True):
"""
Concatenate several movep commands and applies a blending radius
pose_list is a list of pose.
"""
new_poses = []
for pose in pose_list:
t = self.csys * m3d.Transform(pose)
pose = t.pose_vector
pose = [round(i, self.max_float_length) for i in pose]
new_poses.append(pose)
return URRobot.movels(self, new_poses, acc, vel, radius, wait=wait)
def set_gravity(self, vector):
if type(vector) == m3d.Vector:
vector = vector.list
return URRobot.set_gravity(self, vector)
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()
Reference in New Issue View Git Blame Copy Permalink